Material taking and inserting assembly for rivet inserting equipment and control method

Abstract

The invention relates to the technical field of riveting plug-in mounting equipment, in particular to a material taking plug-in mounting assembly for rivet plug-in mounting equipment and a control method, and the material taking plug-in mounting assembly comprises a suction nozzle mounting seat, a positioning suction nozzle, a first detection assembly, a second detection assembly, a suction rod and a pneumatic clamping jaw, so that secondary correction positioning is realized. The control method comprises the following steps: determining adsorption force difference characteristics according to the adsorption force of each part of the positioning suction nozzle, and collecting a suction nozzle rivet image to determine the wear condition of the suction nozzle and the posture of the rivet; and according to the posture of the rivet, the posture change characteristics of the rivet in a plurality of times of adsorption states are determined so as to determine the adjusting mode of the positioning suction nozzle, the pneumatic clamping jaw and the vacuum generating device. And in the rivet grabbing process of the positioning suction nozzle, the angle deviation of the positioning suction nozzle is determined according to the positioning suction nozzle image, and the adjustment mode of the descending speed is determined according to the angle deviation. According to the invention, the nail suction stability is improved while positioning material taking and inserting are effectively realized.

Description

Technical Field

[0001] The invention relates to the technical field of riveting and inserting equipment, and in particular to a material taking and inserting component for rivet inserting equipment and a control method. Background Art

[0002] Riveting and insertion equipment is a mechanical device used to accurately insert rivets into the specified position of the workpiece to achieve the function of connecting or fixing the workpiece. It is widely used in industrial production. Among them, the material insertion component is the core part of the equipment, which can accurately insert the rivet into the riveting hole of the workpiece through precise mechanical movement.

[0003] The working modes of the material picking and inserting assembly in the prior art include: 1) Mechanical grabbing: Arrange the rivets in order and transport them to the material picking position by using a vibrating plate, grab the rivets by using a mechanical gripper or suction cup and move them to the inserting position for insertion. 2) Track conveying and pushing material insertion: Place the rivets on the track, transport the rivets to the inserting position by the track, and push the rivets into the riveting hole by using a push rod and other devices.

[0004] Chinese patent publication number CN114102089B discloses an optical rivet insertion device, including a rivet feeding component, a rivet picking and inserting component, an optical positioning component and a workpiece transport component. The rivet feeding component simultaneously feeds multiple rivets to a preset position and positions them, the workpiece transport component moves the workpiece to be inserted with rivets to a preset position and positions it, the rivet picking and inserting component picks up the rivets once and moves them to the position of the workpiece for one-time insertion, the optical positioning component visually locates the rivet during one-time picking and one-time insertion process, and can detect the quality of rivet insertion, with compact connection and coordination, and adopts fully automatic control and optical vision assistance to reduce the tediousness of rivet insertion, improve work efficiency, and can update the rivet insertion position in real time, detect the insertion quality, and ensure the anti-interference ability of the equipment.

[0005] It can be seen that although the above technical solution realizes the positioning of the rivet in the XY axis direction and uses the detection component to detect the assembly quality of the rivet, it does not take into account the use of mechanical grasping of rivets. However, due to factors such as rivet manufacturing tolerance, suction error of the positioning nozzle, and vibration during equipment operation, there may be a certain deviation when the positioning nozzle performs preliminary suction positioning on the rivet. In addition, when the positioning nozzle adsorbs the rivet, the suction force may be uneven due to nozzle wear or the rivet may become loose and shake due to external interference.

[0006] Therefore, there is an urgent need for a material picking and insertion component and a control method for rivet insertion equipment, which can realize secondary correction and positioning of the rivets after adsorption, adjust the position and posture of the rivets, improve the rivet positioning accuracy and increase the rivet suction stability. Summary of the invention

[0007] To this end, the present invention provides a material taking and inserting assembly and a control method for a rivet inserting device, so as to overcome the problems of positioning deviation and unstable rivet sucking when a positioning suction nozzle sucks rivets in the prior art.

[0008] To achieve the above-mentioned purpose, on the one hand, the present invention provides a material picking and inserting assembly for a rivet inserting device, comprising: the rivet inserting device comprises an XY axis transfer assembly, the XY axis transfer assembly is provided with a transmission module, a first guide module and a second guide module, the first guide module and the second guide module are driven by the transmission module to perform translational motion along the XY axis, the first guide module and the second guide module are slidably provided with a material picking and inserting assembly, and the material picking and inserting assembly comprises: A plurality of nozzle mounting seats, each of which is connected to a cylinder and a guide rail, the cylinder and the guide rail are arranged in parallel, and the nozzle mounting seats move linearly along the guide rail under the drive of the cylinder; A plurality of suction rods, the top of which is connected to a vacuum generating device, and a positioning suction nozzle is provided at the bottom of the suction rod, and the vacuum suction force of the vacuum generating device is transmitted to the positioning suction nozzle through the suction rod, and the vacuum suction force of the vacuum generating device is determined according to the posture change characteristics and the adsorption force difference characteristics; A first detection component is evenly arranged on the inner wall of the positioning nozzle to monitor the adsorption force of each part of the positioning nozzle to determine the difference characteristics of the adsorption force; The second detection component is used to collect the rivet image of the suction nozzle after contacting the rivet to determine the wear of the suction nozzle and the posture of the rivet, determine the posture change characteristics of the rivet under several adsorption states according to the posture of the rivet, and detect the descending speed of the positioning nozzle and the positioning nozzle image during the process of the positioning nozzle grabbing the rivet; A pneumatic clamp is arranged at one side of the bottom of the positioning nozzle to adjust the rivet position according to the posture change characteristics to achieve secondary correction positioning.

[0009] On the other hand, the present invention also provides a control method for a rivet insertion device, comprising: Collecting the suction force of each part of the positioning nozzle to determine the suction force difference characteristics, and collecting the nozzle rivet image to determine the nozzle wear and rivet posture; and determining, according to the rivet posture, posture change characteristics of the rivet in a plurality of adsorption states, wherein the posture change characteristics include deterministic changes or random changes; The adjustment method of the positioning nozzle, the pneumatic gripper and the vacuum generating device is determined according to the posture change characteristics, wherein: If the posture change characteristic is a deterministic change, the position deviation and the angle deviation of the rivet are determined according to the rivet posture and the target insertion position, and the pneumatic clamp adjusts the rivet position according to the position deviation and the angle deviation; If the posture change characteristic is a random change, it is determined whether to replace the positioning nozzle or clean the positioning nozzle according to the wear condition of the nozzle, or to adjust the vacuum suction force of the vacuum generating device according to the suction force difference characteristic and the preset suction force.

[0010] Further, under several adsorption states, the rivet deviation angle is determined by determining the rivet offset direction based on the rivet posture, and the posture change characteristic is determined based on the number of repetitions of the rivet offset direction and the distribution fluctuation state of the rivet deviation angle, wherein: If the number of repetitions in the direction is greater than or equal to the preset number of repetitions, and the distribution fluctuation state is a consistent fluctuation, then the posture change characteristic is a deterministic change; If the direction repetition number is less than the preset repetition number, and the distribution fluctuation state is a difference fluctuation, then the posture change characteristic is a random change.

[0011] Furthermore, the moving direction of the pneumatic clamp is determined according to the rivet posture and the target insertion position, and the moving distance of the pneumatic clamp is determined based on the position deviation and the angle deviation.

[0012] Furthermore, actual wear characteristics of the positioning nozzle are determined based on the nozzle rivet image, and the nozzle wear condition is judged as light wear or heavy wear based on the actual wear characteristics and preset standard characteristics.

[0013] Furthermore, it is determined whether to clean or replace the positioning nozzle based on the nozzle wear condition, wherein: the actual wear characteristic is the number and width of cracks on the contact surface between the positioning nozzle and the rivet.

[0014] Furthermore, the adsorption forces of various parts of the positioning nozzle are compared, and according to the comparison result, it is determined that the adsorption force difference characteristic is that the local adsorption force is too large or the local adsorption force is too small.

[0015] Furthermore, the adjustment method of the vacuum suction force is determined based on the adsorption force difference characteristics, wherein: The adsorption force difference characteristic is determined according to the adsorption force fluctuation range of each part of the positioning nozzle, and the adjustment method includes determining the adjustment amount of the vacuum suction force according to the adsorption force and the preset adsorption force.

[0016] Furthermore, it also includes detecting the descent speed and the positioning nozzle image of the positioning nozzle during the process of the positioning nozzle grabbing the rivet, determining the angle offset of the positioning nozzle according to the positioning nozzle image, and determining the adjustment method of the descent speed according to the angle offset.

[0017] Further, the adjustment method of the descent speed is determined, wherein: If the angle deviation is greater than a preset deviation threshold, the descending speed is reduced.

[0018] Compared with the prior art, the beneficial effect of the present invention is that the present invention identifies the change rules of the posture of the rivet during multiple adsorption processes, determines the change characteristics of the rivet posture, collects the adsorption force of each part of the positioning nozzle to analyze the difference characteristics of the adsorption force, takes the image of the nozzle rivet to evaluate the wear condition and posture, and realizes the targeted adjustment of the positioning nozzle, pneumatic clamp and vacuum generating device. For deterministic changes, the starting clamp is set to perform secondary correction positioning on the rivet. For random changes, the positioning nozzle is replaced or cleaned, or the vacuum suction is adjusted to deal with possible wear or insufficient adsorption force problems, thereby realizing secondary correction positioning of the rivet after adsorption, improving the rivet positioning accuracy while increasing the stability of the suction rivet, and effectively improving the efficiency and accuracy of automated assembly.

[0019] Furthermore, the present invention determines the posture of the rivet under several adsorption states to determine the distribution fluctuation state of the repetition number of the offset direction of the rivet and the deviation angle, and then analyzes the posture change characteristics of the rivet during the adsorption process, which is convenient for the subsequent adjustment of the vacuum generating device, the positioning nozzle and the pneumatic clamp, thereby further improving the stability of the rivet suction, improving the rivet positioning accuracy, improving the insertion efficiency and effectively improving the effect of automated assembly.

[0020] Furthermore, the present invention determines the moving direction and distance of the pneumatic clamp according to the rivet posture, target insertion position, position deviation and angle deviation, thereby realizing secondary correction of the rivet position by the pneumatic clamp, improving the accuracy and efficiency of rivet insertion, reducing problems such as insertion failure and damage to workpieces caused by inaccurate rivet position and posture, and effectively improving the effect of automated assembly.

[0021] Furthermore, the present invention determines the actual wear characteristics of the positioning nozzle based on the nozzle rivet image to determine the nozzle wear condition, so as to achieve the situation where the rivet posture change characteristics are random changes, and deal with possible wear and insufficient adsorption force problems by replacing or cleaning the positioning nozzle, thereby improving the rivet positioning accuracy and increasing the rivet suction stability, and effectively improving the effect of automated assembly.

[0022] Furthermore, the present invention determines the difference characteristics of the adsorption force by comparing the adsorption forces of various parts of the positioning suction nozzle, and determines the adjustment method of the vacuum suction force according to the difference characteristics of the adsorption force, so as to adjust the vacuum suction method to deal with the problem of insufficient or excessive adsorption force, ensure the uniformity and stability of the adsorption force, improve the success rate of rivet grasping and at the same time improve the grasping positioning accuracy, effectively improving the efficiency and accuracy of automated assembly.

[0023] Furthermore, during the process of the positioning nozzle grabbing the rivet, the present invention determines the angular offset of the positioning nozzle according to the positioning nozzle image, and determines the adjustment method of the descent speed according to the angular offset, which helps the positioning nozzle to approach the rivet more smoothly, ensure the uniformity and stability of the adsorption force, improve the success rate of rivet grabbing and the accuracy of grabbing positioning, and effectively improve the efficiency and accuracy of automated assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of a rivet insertion device according to an embodiment of the present invention; Figure 2 It is a structural schematic diagram of a material taking and inserting assembly for a rivet inserting device according to an embodiment of the present invention; Figure 3 A cross-sectional view of a positioning nozzle according to an embodiment of the present invention; Figure 4 It is a decision diagram of the control method of the material taking and inserting assembly according to the embodiment of the present invention; Figure 5 A diagram showing the steps of determining a posture change characteristic according to an embodiment of the present invention; In the figure, 1, transmission module; 21, first guide module; 22, second guide module; 211, cylinder; 212, nozzle mounting seat; 213, suction rod; 214, positioning nozzle; 215, first detection component; 3, pneumatic clamp. DETAILED DESCRIPTION

[0025] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0027] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0028] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] See also Figure 1 , Figure 2 , Figure 3 As shown, Figure 1 This is a schematic diagram of the structure of a rivet insertion device according to an embodiment of the present invention. Figure 2 It is a structural schematic diagram of a material taking and inserting assembly for a rivet inserting device according to an embodiment of the present invention; Figure 3 This is a cross-sectional view of a positioning nozzle according to an embodiment of the present invention; specifically, the present invention provides a material taking and inserting assembly for a rivet inserting device, comprising: The rivet insertion device includes an XY axis transfer assembly, on which a transmission module 1, a first guide module 21 and a second guide module 22 are arranged. The first guide module 21 and the second guide module 22 perform translational motion along the XY axis under the drive of the transmission module 1. A material picking and insertion assembly is slidably arranged on the first guide module 21 and the second guide module 22. The material picking and insertion assembly includes: A plurality of nozzle mounting seats 212, wherein the nozzle mounting seats 212 are connected to the cylinder 211 and the guide rail respectively, the cylinder 211 and the guide rail are arranged in parallel, and the nozzle mounting seats 212 move linearly along the guide rail under the drive of the cylinder 211; A plurality of suction rods 213, the top of the suction rods 213 is connected to the vacuum generating device, and a positioning suction nozzle 214 is provided at the bottom of the suction rods 213, and the vacuum suction force of the vacuum generating device is transmitted to the positioning suction nozzle 214 through the suction rods 213, and the vacuum suction force of the vacuum generating device is determined according to the posture change characteristics and the adsorption force difference characteristics; A first detection component 215, which is evenly arranged on the inner wall of the positioning nozzle 214, is used to monitor the adsorption force of each part of the positioning nozzle 214 to determine the adsorption force difference characteristics; The second detection component is used to collect the rivet image of the suction nozzle after contacting the rivet to determine the wear of the suction nozzle and the rivet posture, determine the posture change characteristics of the rivet in several adsorption states according to the rivet posture, and detect the descending speed of the positioning suction nozzle 214 and the positioning suction nozzle image during the process of the positioning suction nozzle 214 grabbing the rivet; The pneumatic clamp 3 is arranged at one side of the bottom of the positioning nozzle 214 to adjust the rivet position according to the posture change characteristics to achieve secondary correction positioning.

[0030] It can be understood that the working process of the material picking and inserting assembly is to move the material picking and inserting assembly to the top of the rivet storage position through the XY axis transfer assembly, wherein the transmission module 1, the first guide module 21 and the second guide module 22 work together to accurately adjust the position of the material picking and inserting assembly to ensure that the positioning suction nozzle 214 can accurately align with the rivet and perform adsorption sampling. The cylinder 211 drives the suction nozzle mounting seat 212 to move linearly downward along the guide rail to make the positioning suction nozzle 214 close to the rivet. At the same time, the vacuum generating device transmits the vacuum suction force to the positioning suction nozzle 214 through the suction rod 213, and the positioning suction nozzle 214 uses the vacuum suction force to absorb the rivet. While the rivet is being absorbed, the first detection assembly 215 and the second detection assembly detect related parameters. Determine whether the rivet is in the ideal adsorption posture, and at the same time, the XY axis transfer assembly works again to move the material picking and inserting assembly with the rivet adsorbed to the top of the target insertion position, and adjust the rivet position through the pneumatic clamp 3 to achieve secondary correction positioning to ensure that the rivet is in the accurate insertion position and posture. The cylinder 211 drives the nozzle mounting seat 212 to move downward along the guide rail again, and the rivet is accurately inserted into the target position. The nozzle mounting seat 212 returns to the initial position after the insertion is completed, and is ready to carry out the next material removal and insertion operation.

[0031] It is understandable that after long-term use, the positioning nozzle 214 will be worn or damaged, resulting in an uneven sealing edge of the positioning nozzle 214. The positioning nozzle 214 has a stronger adsorption force on one side and a weaker adsorption force on the other side, and the rivet will shift to the side with stronger adsorption force or the adsorption of the rivet will be unstable. Blockage of the internal structure of the nozzle will also affect the uniformity of adsorption, making the adsorption of the rivet unstable or incorrect during the adsorption process. Therefore, the rivet position accuracy and the stability of the adsorption can be improved by adjusting the adsorption force and adjusting the rivet position.

[0032] In a specific embodiment, preferably, the number of the nozzle mounting seat 212, the positioning nozzle 214 and the suction rod 213 on the material picking and inserting assembly is consistent, which are all 4. The first detection component 215 is an adsorption force detection component, which can be a built-in pressure sensor to monitor the adsorption force of each part of the positioning nozzle 214. The built-in pressure sensor is installed on the inner wall of the positioning nozzle 214. Preferably, the built-in pressure sensor is set at the top of the inner wall of the positioning nozzle 214. When the positioning nozzle 214 adsorbs the rivet, a negative pressure is formed in the nozzle. The adsorption force is indirectly detected by sensing the change of gas pressure in the positioning nozzle 214. The built-in pressure sensor does not occupy the adsorption position of the rivet, and its volume is usually small, which will not have a significant impact on the vacuum environment in the positioning nozzle 214. As long as the sealing performance of the positioning nozzle 214 is good and the adsorption channel is smooth, the positioning nozzle 214 can still effectively generate enough adsorption force to adsorb the rivet. The second detection component is not shown in the figure. The second detection component is an image detection component and a speed detection component. Preferably, the image detection component is installed on the side of the positioning nozzle 214 to collect the positioning nozzle image to determine the angle deviation of the positioning nozzle 214. The image detection component can be installed on the bottom side of the positioning nozzle 214 to collect the nozzle rivet image to determine the wear of the positioning nozzle and the rivet posture. The speed detection component is set near the movement path of the positioning nozzle 214 to measure the descending speed of the positioning nozzle 214.

[0033] On the other hand, see Figure 4 As shown, Figure 4 The figure is a determination diagram of a control method of a material picking and inserting assembly according to an embodiment of the present invention; specifically, the present invention provides a control method of a material picking and inserting assembly for a rivet inserting device, comprising: Collecting the suction force of each part of the positioning nozzle 214 to determine the suction force difference characteristics, and collecting the nozzle rivet image to determine the nozzle wear and rivet posture; and determining, according to the rivet posture, posture change characteristics of the rivet in a plurality of adsorption states, wherein the posture change characteristics include deterministic changes or random changes; The adjustment method of the positioning nozzle 214, the pneumatic clamp 3 and the vacuum generating device is determined according to the posture change characteristics, wherein: If the posture change characteristic is a deterministic change, the position deviation and angle deviation of the rivet are determined according to the rivet posture and the target insertion position, and the pneumatic clamp 3 adjusts the rivet position according to the position deviation and angle deviation; If the posture change characteristic is a random change, it is determined whether to replace the positioning nozzle 214 or clean the positioning nozzle 214 according to the wear condition of the nozzle, or to adjust the vacuum suction force of the vacuum generating device according to the suction force difference characteristic and the preset suction force.

[0034] It is understandable that if the rivet always has position deviation or angle deviation in the same direction after each adsorption, for example, it always moves a certain distance to the left or rotates a certain angle counterclockwise, showing a deterministic change, it may be caused by inaccurate positioning during the initial grasping, so the pneumatic clamp 3 is used to achieve secondary positioning correction; if the rivet is tilted, shaking or unstable after adsorption, and the posture changes of each adsorption have no obvious rules and are relatively random, it may be caused by uneven adsorption. Uneven adsorption may be caused by dust, debris or oil on the surface of the nozzle blocking the pores, resulting in uneven distribution of adsorption, or the nozzle may be worn or deformed after long-term use, affecting the uniformity of adsorption.

[0035] In a specific embodiment, the target insertion position can be determined by image detection, and the preset adsorption force can be determined according to the size of the rivet diameter. The larger the rivet diameter, the greater the preset adsorption force of the positioning nozzle 214. If the rivet diameter ranges from 1 to 3 mm, the preset adsorption force ranges from 1N to 5N. If the rivet diameter ranges from 3 to 10 mm, the preset adsorption force ranges from 5N to 30N. In implementation, the preset adsorption force range and preferred value can be determined according to actual conditions, and are not specifically limited here and will not be described in detail.

[0036] The present invention identifies the change rules of the rivet's posture during multiple adsorption processes, determines the change characteristics of the rivet's posture, collects the adsorption force of each part of the positioning nozzle 214 to analyze the difference characteristics of the adsorption force, takes images of the nozzle and rivet to evaluate the wear condition and posture, and implements targeted adjustments to the positioning nozzle 214, the pneumatic clamp 3, and the vacuum generating device. For deterministic changes, the starting clamp is set to perform secondary correction positioning on the rivet. For random changes, the positioning nozzle 214 is replaced or cleaned, or the vacuum suction force is adjusted to deal with possible wear or insufficient adsorption force problems, thereby achieving secondary correction positioning of the rivet after adsorption, improving the rivet positioning accuracy while increasing the stability of the suction rivet, and effectively improving the efficiency and accuracy of automated assembly.

[0037] See also Figure 5 As shown, Figure 5 The figure is a step diagram of determining the posture change characteristic of an embodiment of the present invention; specifically, in several adsorption states, the rivet offset direction is determined based on the rivet posture to determine the rivet deviation angle, and the posture change characteristic is determined based on the number of repetitions of the rivet offset direction and the distribution fluctuation state of the rivet deviation angle, wherein: If the number of repetitions in the direction is greater than or equal to the preset number of repetitions, and the distribution fluctuation state is a consistent fluctuation, then the posture change characteristic is a deterministic change; If the direction repetition number is less than the preset repetition number, and the distribution fluctuation state is a difference fluctuation, then the posture change characteristic is a random change.

[0038] In a specific embodiment, the positioning nozzle images during the rivet adsorption installation process for 40 to 60 times are taken to determine the rivet posture of the rivet in the adsorption state. Preferably, 50 positioning nozzle images can be collected to determine the rivet posture, and the value range of the preset number of repetitions is 40 to 45 times, and preferably, the value of the preset number of repetitions is 42 times. The rivet deviation angle can be determined by determining the rivet posture according to the detection method. At the same time, if the distribution fluctuation state of the rivet deviation angle corresponding to 50 times is consistent fluctuation, and the direction repetition number is greater than 42 times, the posture change characteristic is a deterministic change, otherwise it is a random change. Under deterministic changes, the pneumatic clamp 3 is used to perform secondary rivet position correction; under random changes, the uniformity of adsorption force and the wear of the positioning nozzle 214 are determined, so as to adjust the vacuum generating device and the positioning nozzle 214. If the rivet deviation angles corresponding to 50 times are all within the preset deviation angle range, it is a consistent fluctuation, otherwise it is a differential fluctuation; the preset deviation angle range is 1% to 10% of the sum mean of the rivet deviation angles corresponding to 50 times. In implementation, the distribution fluctuation state and the value range, preferred value and confirmation method of the preset number of repetitions can be determined according to actual conditions, and are not specifically limited here and will not be elaborated.

[0039] The present invention determines the posture of the rivet under several adsorption states to determine the distribution fluctuation state of the repeated number of offset directions and the deviation angles of the rivet, and then analyzes the posture change characteristics of the rivet during the adsorption process, which facilitates the subsequent adjustment of the vacuum generating device, the positioning nozzle 214 and the pneumatic clamp 3, thereby further improving the stability of the rivet suction, improving the rivet positioning accuracy, improving the insertion efficiency and effectively improving the effect of automated assembly.

[0040] Specifically, the moving direction of the pneumatic clamp 3 is determined according to the rivet posture and the target insertion position, and the moving distance of the pneumatic clamp 3 is determined based on the position deviation and the angle deviation.

[0041] It is understandable that during the rivet insertion process, in order to ensure that the rivet can be inserted into the target position accurately, the pneumatic clamp 3 needs to perform secondary correction and adjustment on the position and posture of the rivet. By comparing the rivet posture with the target insertion position, the rivet is moved closer to the correct insertion posture and position. For example, if the rivet is in a tilted state and deviates from the right side of the target position, the pneumatic clamp 3 may need to move to the upper left. The position deviation is the spatial distance between the end position of the rivet and the target insertion position, and the angle deviation is the angle difference between the current posture of the rivet and the vertical posture of the rivet after insertion. Combined with the angle deviation and the position deviation, the movement mode of the pneumatic clamp 3 is determined to allow the rivet to reach a state where it can be accurately inserted.

[0042] In a specific embodiment, in a spatial coordinate system, the coordinates of the target insertion position are determined, and the image of the suction nozzle rivet is collected by using an image detection component, from which the current posture (such as tilt angle, rotation direction, etc.) and position of the rivet are analyzed, and the target insertion position and the corresponding rivet preset posture are clarified at the same time. The moving direction of the pneumatic clamp 3 is consistent with the direction of the target insertion position, and opposite to the direction of the rivet relative to the target insertion position. The distance between the end position of the rivet and the target insertion position can be used as the moving distance of the pneumatic clamp 3. And the moving distance is compensated based on the angle deviation. For example, when the rivet has an angle deviation, its actual motion trajectory in space is often not a simple straight line, and includes a certain rotation or arc motion. Therefore, the arc distance of the moving distance of the pneumatic clamp 3 corresponding to the angle deviation is used as the angle moving distance of the pneumatic clamp 3. It will not be repeated here.

[0043] The present invention determines the moving direction and moving distance of the pneumatic clamp 3 according to the rivet posture, target insertion position, position deviation and angle deviation, so as to realize secondary correction of the rivet position by the pneumatic clamp 3, improve the accuracy and efficiency of rivet insertion, reduce the problems of insertion failure and damage to workpiece caused by inaccurate rivet position and posture, and effectively improve the effect of automated assembly.

[0044] Specifically, the actual wear characteristics of the positioning nozzle 214 are determined based on the nozzle rivet image, and the nozzle wear condition is judged as light wear or heavy wear based on the actual wear characteristics and preset standard characteristics.

[0045] Specifically, it is determined whether to clean the positioning nozzle 214 or replace the positioning nozzle 214 based on the nozzle wear condition, wherein: the actual wear characteristic is the number and width of cracks on the contact surface between the positioning nozzle 214 and the rivet.

[0046] Specifically, the adjustment method of the positioning nozzle 214 is determined based on the nozzle wear condition, including: If the nozzle is slightly worn, clean and position the nozzle 214; If the nozzle is severely worn, the positioning nozzle 214 is replaced.

[0047] It is understandable that the positioning nozzle 214 is used to accurately pick up tiny rivets. If cracks appear on the contact surface between the positioning nozzle 214 and the rivet, it may cause uneven adsorption force, causing the rivet to shift during the picking or placement process. At the same time, if the pores on the surface of the positioning nozzle 214 are blocked by debris, it will also cause uneven adsorption force. Therefore, based on the wear condition of the positioning nozzle 214, the treatment method for the positioning nozzle 214 is determined to make the adsorption force evenly distributed. If it is slightly worn, clean the pores of the positioning nozzle 214. If it is severely worn, replace it with a new positioning nozzle 214 to ensure surface flatness.

[0048] In a specific embodiment, a second detection component is used to collect a nozzle rivet image, and the nozzle rivet image is preprocessed to improve image contrast and clarity. A segmentation algorithm is used to segment the image to extract the positioning nozzle 214 area, such as threshold segmentation, edge detection, or region-based segmentation. The actual wear feature is the degree of wear of the key parts of the positioning nozzle 214, such as the wear diameter. The size of the positioning nozzle 214 is determined based on the positioning nozzle 214 feature in the nozzle rivet image, and the actual positioning nozzle 214 size is compared with the preset standard feature, that is, the standard size. The nozzle wear is determined based on the reduction in size. If the wear degree is between 1% and 5% of the preset standard feature size, it is light wear, and if it exceeds 5% of the preset standard feature size, it is heavy wear.

[0049] In another specific embodiment, the wear condition of the suction nozzle can also be determined based on the structural features of the actual positioning suction nozzle 214. If cracks and gaps exist in the actual positioning suction nozzle 214, a method combining morphological operations (such as expansion and corrosion) and edge detection is used to highlight the features of cracks and gaps, and then the position and size are determined by connected area analysis. If the crack meets the preset crack characteristics, it is light wear. If the crack does not meet the preset crack characteristics, it is heavy wear. The preset crack characteristics are 1 to 2 cracks and a crack width of 1 mm to 3 mm. In implementation, the wear condition of the suction nozzle can be determined based on actual conditions, which is not specifically limited here and will not be repeated.

[0050] The present invention determines the actual wear characteristics of the positioning nozzle 214 according to the nozzle rivet image to determine the nozzle wear condition, so as to achieve the situation where the rivet posture change characteristics are random changes, and possible wear and insufficient adsorption force problems can be dealt with by replacing or cleaning the positioning nozzle 214, thereby improving the rivet positioning accuracy and increasing the rivet suction stability, and effectively improving the effect of automated assembly.

[0051] Specifically, the adsorption forces of various parts of the positioning suction nozzle 214 are compared, and the adsorption force difference characteristic is determined as a local adsorption force being too large or a local adsorption force being too small according to the comparison result.

[0052] Specifically, the adjustment method of the vacuum suction force is determined based on the difference characteristics of the suction force, wherein: The suction force difference characteristic is determined according to the suction force fluctuation range of each part of the positioning suction nozzle 214, and the adjustment method includes determining the adjustment amount of the vacuum suction force according to the suction force and the preset suction force.

[0053] It is understandable that the pressure sensor is used to monitor the suction force of different parts of the positioning suction nozzle 214 in real time. If it is found that the suction force values ​​of different parts of the suction nozzle are greatly different, it can be determined that the rivet deviation is caused by uneven suction force. At the same time, since the vacuum generating device generates too high or too low air pressure, it may cause uneven suction force, so the adjustment method of the vacuum suction force is determined based on the suction force difference characteristics.

[0054] In a specific embodiment, there are 4 detection positions for the suction force of the positioning nozzle, and the suction force fluctuations of each position of the positioning nozzle 214 are all between 1% and 3%, then there is no difference in suction force. If there are 2 to 3 single positioning nozzles 214 whose suction force fluctuations are all between 1% and 3%, and there are 1 to 2 positioning nozzles 214 whose suction force is greater or less than the average of the suction force of the other positioning nozzles 214, then the suction force difference characteristic is that the local suction force is too large or the local suction force is too small. The vacuum suction force is adjusted by adjusting the output air pressure of the vacuum generating device through the air pressure regulating valve, and the adjustment amount of the vacuum suction force is determined according to the suction force and the preset suction force. Assuming that the positioning nozzle 214 can accurately adsorb rivets between the preset adsorption force of 105% and 110%, and the rivets will not fall off, the adjustment amount of the vacuum suction force is determined based on the difference between the sum of the adsorption forces of each part of the positioning nozzle 214 and the preset adsorption force, and the above range. If the adsorption force difference exceeds the preset adsorption force by 5% to 10%, the vacuum suction force is adjusted, and the vacuum suction force adjustment amount is 10% of the initial vacuum suction force. In implementation, the adsorption force difference characteristics and the vacuum suction force adjustment method can be determined according to actual conditions, and are not specifically limited here and will not be repeated.

[0055] In another specific embodiment, the air pipeline of the vacuum generating device can also be cleaned to remove accumulated impurities such as dust and oil, promote air flow, and improve the uniformity of adsorption force.

[0056] The present invention determines the difference characteristics of the adsorption force by comparing the adsorption forces of various parts of the positioning suction nozzle 214, and determines the adjustment method of the vacuum suction according to the difference characteristics of the adsorption force, so as to deal with the problem of insufficient or excessive adsorption force by adjusting the vacuum suction method, thereby ensuring the uniformity and stability of the adsorption force, improving the success rate of rivet grasping and the accuracy of grasping and positioning, and effectively improving the efficiency and accuracy of automated assembly.

[0057] Specifically, it also includes detecting the descending speed and the positioning nozzle image of the positioning nozzle 214 during the process of the positioning nozzle 214 grabbing the rivet, determining the angle offset of the positioning nozzle 214 according to the positioning nozzle image, and determining the adjustment method of the descending speed according to the angle offset.

[0058] It is understandable that if the positioning nozzle 214 descends too quickly, the rivet will be offset at the moment of grabbing. Therefore, during the process of the positioning nozzle 214 grabbing the rivet, the descending speed of the positioning nozzle 214 and the positioning nozzle image are detected to determine the angular offset of the positioning nozzle 214 during the descent process.

[0059] In a specific embodiment, the positioning nozzle image may be collected every 5 ms, and the angular offset of the positioning nozzle 214 may be determined by comparing the initial positioning nozzle image and the positioning nozzle image at the moment of contact with the rivet. The contour of the positioning nozzle 214 may be extracted using image processing technology, and it may be determined whether the positioning nozzle 214 is offset in the horizontal, vertical, or angular directions. For example, if the positioning nozzle 214 is offset to the left in the positioning nozzle image at the moment of contact with the rivet relative to the position of the positioning nozzle 214 in the initial positioning nozzle image, it is determined that the positioning nozzle 214 is offset in the horizontal direction, and the descending speed of the positioning nozzle 214 is adjusted.

[0060] Specifically, determine how to adjust the descent speed, where: If the angle deviation is greater than a preset deviation threshold, the descending speed is reduced.

[0061] In a specific embodiment, the preset offset threshold has a value range of 3° to 6°. Preferably, the preset offset threshold has a value of 4°. If the angle offset is greater than the preset offset threshold, it means that the descent speed is too fast, causing the positioning nozzle 214 to instantly deviate when adsorbing the rivet, so the descent speed is reduced. The initial descent speed of the positioning nozzle 214 has a value range of 20mm / s to 50mm / s. Preferably, the initial descent speed of the positioning nozzle 214 is 30mm / s. The reduction in descent speed is 10% to 15% of the initial descent speed. Preferably, the reduction in descent speed is 12% of the initial descent speed. In implementation, the value ranges and preferred values ​​of the preset offset threshold, initial descent speed, and reduction in descent speed can be determined according to actual conditions, and are not specifically limited here and will not be repeated.

[0062] During the process of the positioning nozzle 214 grabbing the rivet, the present invention determines the angular offset of the positioning nozzle 214 according to the positioning nozzle image, and determines the adjustment method of the descent speed according to the angular offset, which helps the positioning nozzle 214 to approach the rivet more smoothly, ensure the uniformity and stability of the adsorption force, improve the success rate of rivet grabbing and the accuracy of grabbing positioning, and effectively improve the efficiency and accuracy of automated assembly.

[0063] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A material taking and inserting assembly for rivet inserting equipment, characterized in that: The rivet insertion device includes an XY axis transfer assembly, on which a transmission module, a first guide module and a second guide module are arranged, the first guide module and the second guide module perform translational motion along the XY axis under the drive of the transmission module, and a material picking and inserting assembly is slidably arranged on the first guide module and the second guide module, and the material picking and inserting assembly includes: A plurality of nozzle mounting seats, each of which is connected to a cylinder and a guide rail, the cylinder and the guide rail are arranged in parallel, and the nozzle mounting seats move linearly along the guide rail under the drive of the cylinder; A plurality of suction rods, the top of which is connected to a vacuum generating device, and a positioning suction nozzle is provided at the bottom of the suction rod, and the vacuum suction force of the vacuum generating device is transmitted to the positioning suction nozzle through the suction rod, and the vacuum suction force of the vacuum generating device is determined according to the posture change characteristics and the adsorption force difference characteristics; A first detection component is evenly arranged on the inner wall of the positioning nozzle, and is used to monitor the adsorption force of each part of the positioning nozzle to determine the adsorption force difference characteristics, and the adsorption force difference characteristics are determined according to the adsorption force fluctuation range of each part of the positioning nozzle; The second detection component is used to collect the rivet image of the suction nozzle after contacting the rivet to determine the wear of the suction nozzle and the posture of the rivet, determine the posture change characteristics of the rivet under several adsorption states according to the posture of the rivet, and detect the descending speed of the positioning nozzle and the positioning nozzle image during the process of the positioning nozzle grabbing the rivet; A pneumatic clamp is arranged at one side of the bottom of the positioning nozzle to adjust the rivet position according to the posture change characteristics to achieve secondary correction positioning.

2. A control method for the material taking and inserting assembly of the rivet inserting equipment according to claim 1, characterized in that: include: Collecting the suction force of each part of the positioning nozzle to determine the suction force difference characteristics, and collecting the nozzle rivet image to determine the nozzle wear and rivet posture; Determining, according to the rivet posture, posture change characteristics of the rivet in a plurality of adsorption states, wherein the posture change characteristics include deterministic changes or random changes; The adjustment method of the positioning nozzle, the pneumatic gripper and the vacuum generating device is determined according to the posture change characteristics, wherein: If the posture change characteristic is a deterministic change, the position deviation and the angle deviation of the rivet are determined according to the rivet posture and the target insertion position, and the pneumatic clamp adjusts the rivet position according to the position deviation and the angle deviation; If the posture change characteristic is a random change, it is determined whether to replace the positioning nozzle or clean the positioning nozzle according to the wear condition of the nozzle, or to adjust the vacuum suction force of the vacuum generating device according to the suction force difference characteristic and the preset suction force.

3. The control method for the material taking and inserting assembly of the rivet inserting equipment according to claim 2 is characterized in that: In several adsorption states, the rivet deviation angle is determined by determining the rivet offset direction based on the rivet posture, and the posture change characteristic is determined based on the number of repetitions of the rivet offset direction and the distribution fluctuation state of the rivet deviation angle, wherein: If the number of repetitions in the direction is greater than or equal to the preset number of repetitions, and the distribution fluctuation state is a consistent fluctuation, then the posture change characteristic is a deterministic change; If the direction repetition number is less than the preset repetition number, and the distribution fluctuation state is a difference fluctuation, then the posture change characteristic is a random change.

4. The control method for the material taking and inserting assembly of the rivet inserting equipment according to claim 2 is characterized in that: The moving direction of the pneumatic clamp is determined according to the rivet posture and the target insertion position, and the moving distance of the pneumatic clamp is determined based on the position deviation and the angle deviation.

5. The control method for the material taking and inserting assembly of the rivet inserting equipment according to claim 2 is characterized in that: The actual wear characteristics of the nozzle are determined based on the nozzle rivet image, and the wear condition of the nozzle is judged as light wear or heavy wear based on the actual wear characteristics and preset standard characteristics.

6. The control method for the material taking and inserting assembly of the rivet inserting equipment according to claim 5, characterized in that: Clean or replace the positioning nozzle based on the nozzle wear condition, where: The actual wear characteristics are the number and width of cracks on the contact surface between the positioning nozzle and the rivet.

7. The control method for the material taking and inserting assembly of the rivet inserting equipment according to claim 2, characterized in that: The adsorption forces of various parts of the positioning nozzle are compared, and the adsorption force difference characteristics are determined based on the comparison results as being excessively large or insufficiently large local adsorption forces.

8. The control method for the material taking and inserting assembly of the rivet inserting equipment according to claim 3 is characterized in that: The adjustment method of the vacuum suction force is determined based on the difference characteristics of the suction force, wherein: The adsorption force difference characteristic is determined according to the adsorption force fluctuation range of each part of the positioning nozzle, and the adjustment method includes determining the adjustment amount of the vacuum suction force according to the adsorption force and the preset adsorption force.

9. The control method for the material taking and inserting assembly of the rivet inserting equipment according to claim 2, characterized in that: It also includes detecting the descent speed and the positioning nozzle image of the positioning nozzle during the process of the positioning nozzle grabbing the rivet, determining the angle offset of the positioning nozzle according to the positioning nozzle image, and determining the adjustment method of the descent speed according to the angle offset.

10. The control method for the material taking and inserting assembly of the rivet inserting equipment according to claim 9, characterized in that: Determines how to adjust the descent speed, where: If the angle deviation is greater than a preset deviation threshold, the descending speed is reduced.

Images