A component for picking and inserting rivets in a rivet insertion device and a control method thereof

Abstract

The present invention relates to the technical field of riveting and inserting equipment, and in particular to a material taking and inserting assembly and a control method for a rivet inserting device. The material taking and inserting assembly includes a nozzle mounting seat, a positioning nozzle, a first detection assembly, a second detection assembly, a suction rod, and a pneumatic gripper, so as to achieve secondary calibration and positioning. The control method includes determining the adsorption force difference characteristics according to the adsorption forces of various parts of the positioning nozzle, and collecting the nozzle rivet images to determine the wear condition of the nozzle and the posture of the rivet; and determining the posture change characteristics of the rivet under several adsorption states according to the rivet posture to determine the adjustment modes for the positioning nozzle, the pneumatic gripper, and the vacuum generating device. And during the process of the positioning nozzle grasping the rivet, determining the angular deviation of the positioning nozzle according to the positioning nozzle image, and determining the adjustment mode for the descending speed according to the angular deviation. The present invention effectively realizes positioning material taking and inserting while increasing the stability of sucking the rivet.

Description

Technical Field

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

[0002] A riveting and inserting equipment is a mechanical device used to accurately insert rivets into designated positions of workpieces to achieve the connection or fixation function of workpieces, and is widely used in industrial production. Among them, the material taking and inserting assembly is the core part of the equipment, which can accurately insert rivets into the riveting holes of workpieces through precise mechanical movements.

[0003] The working methods of the material taking and inserting assembly in the prior art include: 1) Mechanical grasping: Using a vibrating bowl to arrange rivets in an orderly manner and convey them to the material taking position, and using tools such as mechanical grippers or suction cups to grasp the rivets and move them to the inserting position for insertion. 2) Track conveying and pushing for insertion: Placing the rivets on a track, conveying the rivets to the inserting position through the track, and using devices such as push rods to push the rivets into the riveting holes.

[0004] Chinese Patent Publication No. CN114102089B discloses an optical rivet inserting equipment, including a rivet feeding assembly, a rivet material taking and inserting assembly, an optical positioning assembly, and a workpiece transportation assembly. The rivet feeding assembly feeds multiple rivets to a preset position and positions them at the same time. The workpiece transportation assembly moves the workpiece to be inserted with rivets to a preset position and positions it. The rivet material taking and inserting assembly takes the rivets once and moves them to the position of the workpiece for insertion once. The optical positioning assembly performs visual positioning on the process of taking the rivets once and inserting them once, and can detect the quality of rivet insertion. The connection and cooperation are compact. Using the method of full-automatic control and optical vision assistance, it reduces the complexity of rivet insertion, improves the operation 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 rivets in the XY axis direction and uses a detection component to detect the assembly quality of the rivets, it does not consider that when using mechanical grasping of the rivets, due to factors such as the manufacturing tolerance of the rivets, the adsorption error of the positioning suction nozzle, and the vibration during the operation of the equipment, there may be a certain deviation when the positioning suction nozzle performs preliminary adsorption and positioning on the rivets. Moreover, when the positioning suction nozzle adsorbs the rivets, the adsorption force may be uneven due to the wear of the suction nozzle, or the rivets may loosen and shake due to external interference.

[0006] Therefore, there is an urgent need for a material taking and inserting assembly and a control method for a rivet inserting equipment, which can realize the secondary calibration and positioning of the adsorbed rivets, adjust the position and attitude of the rivets, improve the rivet positioning accuracy, and increase the stability of rivet adsorption. 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 suction when the positioning suction nozzle adsorbs rivets in the prior art.

[0008] To achieve the above object, on the one hand, the present invention provides a material taking and inserting assembly for a rivet inserting device, including: The rivet inserting device includes an XY-axis transplanting assembly, on which a transmission module, a first guiding module and a second guiding module are arranged. The first guiding module and the second guiding module perform translational movement along the XY-axis under the drive of the transmission module. A material taking and inserting assembly is slidably arranged on the first guiding module and the second guiding module. The material taking and inserting assembly includes:

[0009] A plurality of nozzle mounting seats, which are respectively connected to a cylinder and a guide rail. The cylinder and the guide rail are arranged in parallel. The nozzle mounting seat performs linear movement along the guide rail under the drive of the cylinder;

[0010] A plurality of suction rods, the top of the suction rod is connected to a vacuum generating device, and a positioning suction nozzle is arranged at the bottom of the suction rod. The vacuum suction of the vacuum generating device is transmitted to the positioning suction nozzle through the suction rod. The vacuum suction of the vacuum generating device is determined according to the attitude change characteristics and the adsorption force difference characteristics;

[0011] A first detection component, which is uniformly arranged on the inner wall of the positioning suction nozzle to monitor the adsorption force of each part of the positioning suction nozzle to determine the adsorption force difference characteristics;

[0012] A second detection component, which is used to collect the nozzle-rivet image after contacting the rivet to determine the wear condition of the suction nozzle and the rivet attitude, determine the attitude change characteristics of the rivet in several adsorption states according to the rivet attitude, and detect the descending speed and the image of the positioning suction nozzle during the process of the positioning suction nozzle grasping the rivet;

[0013] A pneumatic gripper, which is arranged on one side of the bottom of the positioning suction nozzle to adjust the position of the rivet according to the attitude change characteristics and realize secondary calibration positioning.

[0014] On the other hand, the present invention also provides a control method for a rivet inserting device, including:

[0015] Collect the adsorption force of each part of the positioning suction nozzle to determine the adsorption force difference characteristics, and collect the nozzle-rivet image to determine the wear condition of the suction nozzle and the rivet attitude;

[0016] And determine the attitude change characteristics of the rivet in several adsorption states according to the rivet attitude. The attitude change characteristics include deterministic change or random change;

[0017] Determine the adjustment methods for the positioning nozzle, pneumatic gripper, and vacuum generating device according to the attitude change characteristics, where:

[0018] If the attitude change characteristics are deterministic changes, determine the position deviation and angle deviation of the rivet according to the rivet attitude and the target insertion position, and the pneumatic gripper adjusts the rivet position according to the position deviation and angle deviation;

[0019] If the attitude change characteristics are random changes, judge whether to replace or clean the positioning nozzle according to the wear condition of the nozzle, or adjust the vacuum suction of the vacuum generating device according to the adsorption force difference characteristics and the preset adsorption force.

[0020] Furthermore, in several adsorption states, determine the rivet deviation direction based on the rivet attitude to determine the rivet deviation angle, and determine the attitude change characteristics based on the number of repetitions of the direction of the rivet deviation direction and the distribution fluctuation state of the rivet deviation angle, where:

[0021] If the number of repetitions of the direction is greater than or equal to the preset number of repetitions, and the distribution fluctuation state is a consistent fluctuation, then the attitude change characteristics are deterministic changes;

[0022] If the number of repetitions of the direction is less than the preset number of repetitions, and the distribution fluctuation state is a differential fluctuation, then the attitude change characteristics are random changes.

[0023] Furthermore, determine the moving direction of the pneumatic gripper according to the rivet attitude and the target insertion position, and determine the moving distance of the pneumatic gripper based on the position deviation and angle deviation.

[0024] Furthermore, determine the actual wear characteristics of the positioning nozzle according to the nozzle-rivet image, and judge whether the wear condition of the nozzle is mild wear or severe wear according to the actual wear characteristics and the preset standard characteristics.

[0025] Furthermore, judge whether to clean or replace the positioning nozzle based on the wear condition of the nozzle, where: the actual wear characteristics are the number and width of cracks on the contact surface between the positioning nozzle and the rivet.

[0026] Furthermore, compare the adsorption forces of each part of the positioning nozzle, and judge whether the adsorption force difference characteristics are excessive local adsorption force or insufficient local adsorption force according to the comparison result.

[0027] Furthermore, determine the adjustment method for the vacuum suction based on the adsorption force difference characteristics, where:

[0028] The adsorption force difference characteristics are 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 according to the adsorption force and the preset adsorption force.

[0029] Further, it also includes detecting the descending speed of the positioning nozzle and the image of the positioning nozzle during the process of the positioning nozzle grasping the rivet, determining the angular deviation of the positioning nozzle according to the image of the positioning nozzle, and determining the adjustment method for the descending speed according to the angular deviation.

[0030] Further, determine the adjustment method for the descending speed, where:

[0031] If the angular deviation is greater than the preset deviation threshold, reduce the descending speed.

[0032] Compared with the prior art, the beneficial effects of the present invention are as follows. By identifying the attitude change law of the rivet during multiple adsorption processes, the present invention determines the attitude change characteristics of the rivet, collects the adsorption forces of various parts of the positioning nozzle to analyze the adsorption force difference characteristics, takes pictures of the nozzle-rivet image to evaluate the wear condition and attitude, and realizes targeted adjustment of the positioning nozzle, pneumatic gripper, and vacuum generating device. For deterministic changes, a starting gripper is set to perform secondary calibration positioning on the rivet. For random changes, the positioning nozzle is replaced or cleaned, or the vacuum suction is adjusted to address possible wear or insufficient adsorption force problems, thereby realizing secondary calibration positioning of the adsorbed rivet, improving the rivet positioning accuracy and increasing the rivet suction stability, and effectively enhancing the efficiency and accuracy of automated assembly.

[0033] Further, the present invention determines the rivet attitude under several adsorption states to determine the distribution fluctuation state of the repetition times of the rivet offset direction and the deviation angle, and then analyzes the attitude change characteristics of the rivet during the adsorption process, which is convenient for subsequent adjustment of the vacuum generating device, positioning nozzle, and pneumatic gripper, thereby further improving the rivet suction stability while improving the rivet positioning accuracy, enhancing the insertion efficiency, and effectively enhancing the effect of automated assembly.

[0034] Further, the present invention determines the moving direction and moving distance of the pneumatic gripper according to the rivet attitude, target insertion position, position deviation, and angle deviation, realizes secondary calibration of the rivet position by the pneumatic gripper, improves the accuracy and efficiency of rivet insertion, reduces problems such as insertion failure and workpiece damage caused by inaccurate rivet position and attitude, and effectively enhances the effect of automated assembly.

[0035] Further, the present invention determines the actual wear characteristics of the positioning nozzle according to the nozzle-rivet image to determine the wear condition of the nozzle, thereby realizing that in the case of random changes in the rivet attitude change characteristics, the possible wear and insufficient adsorption force problems are addressed by replacing or cleaning the positioning nozzle, improving the rivet positioning accuracy and increasing the rivet suction stability, and effectively enhancing the effect of automated assembly.

[0036] Furthermore, the present invention determines the adsorption force difference characteristics by comparing the adsorption forces of various parts of the positioning suction nozzle, determines the adjustment method for the vacuum suction force according to the adsorption force difference characteristics, and adjusts the vacuum suction force method to address the problems of insufficient or excessive adsorption force, 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 enhancing the efficiency and accuracy of automated assembly.

[0037] Furthermore, during the process of the positioning suction nozzle grasping the rivet, the present invention determines the angular deviation of the positioning suction nozzle according to the image of the positioning suction nozzle, and determines the adjustment method for the descending speed according to the angular deviation, which helps the positioning suction nozzle approach the rivet more smoothly, ensures the uniformity and stability of the adsorption force, improves the success rate of rivet grasping and the accuracy of grasping and positioning, and effectively enhances the efficiency and accuracy of automated assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic structural diagram of the rivet insertion device according to an embodiment of the present invention;

[0039] Figure 2 is a schematic structural diagram of the material taking and insertion assembly for the rivet insertion device according to an embodiment of the present invention;

[0040] Figure 3 is a cross-sectional view of the positioning suction nozzle according to an embodiment of the present invention;

[0041] Figure 4 is a decision diagram of the control method for the material taking and insertion assembly according to an embodiment of the present invention;

[0042] Figure 5 is a step diagram for determining the attitude change characteristics according to an embodiment of the present invention;

[0043] In the figure, 1, transmission module; 21, first guiding module; 22, second guiding module; 211, cylinder; 212, suction nozzle mounting seat; 213, suction rod; 214, positioning suction nozzle; 215, first detection component; 3, pneumatic gripper. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] In order to make the objectives and advantages of the present invention more clear, the present invention will be 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.

[0045] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0046] It should be noted that in the description of the present invention, the terms indicating the direction or positional relationship such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the direction or positional relationship shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0047] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside 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 situations.

[0048] Please refer to Figure 1 , Figure 2 , Figure 3 as shown in Figure 1 which is a schematic structural diagram of the rivet insertion device according to an embodiment of the present invention, Figure 2 and which is a schematic structural diagram of the material taking and insertion assembly for the rivet insertion device according to an embodiment of the present invention; Figure 3 which is a cross-sectional view of the positioning suction nozzle according to an embodiment of the present invention; specifically, the present invention provides a material taking and insertion assembly for a rivet insertion device, including:

[0049] The rivet insertion device includes an XY-axis transplanting assembly. A transmission module 1, a first guiding module 21, and a second guiding module 22 are arranged on the XY-axis transplanting assembly. The first guiding module 21 and the second guiding module 22 perform a translational movement along the XY-axis under the drive of the transmission module 1. A material taking and insertion assembly is slidably arranged on the first guiding module 21 and the second guiding module 22. The material taking and insertion assembly includes:

[0050] A plurality of suction nozzle mounting seats 212, the suction nozzle mounting seats 212 are respectively connected to a cylinder 211 and a guide rail. The cylinder 211 and the guide rail are arranged in parallel. The suction nozzle mounting seats 212 perform a linear movement along the guide rail under the drive of the cylinder 211;

[0051] A plurality of suction rods 213, the top of the suction rod 213 is connected to a vacuum generating device. A positioning suction nozzle 214 is arranged at the bottom of the suction rod 213. The vacuum suction force of the vacuum generating device is transmitted to the positioning suction nozzle 214 through the suction rod 213. The vacuum suction force of the vacuum generating device is determined according to the attitude change characteristics and the adsorption force difference characteristics;

[0052] The first detection component 215 is uniformly arranged on the inner wall of the positioning suction nozzle 214 for monitoring the adsorption force of each part of the positioning suction nozzle 214 to determine the adsorption force difference characteristics;

[0053] The second detection component is used to collect the nozzle-rivet image after contacting the rivet to determine the wear condition of the nozzle and the posture of the rivet, determine the posture change characteristics of the rivet under several adsorption states according to the rivet posture, and during the process of the positioning suction nozzle 214 grasping the rivet, detect the descending speed of the positioning suction nozzle 214 and the positioning suction nozzle image;

[0054] The pneumatic gripper 3 is arranged on one side of the bottom of the positioning suction nozzle 214 for adjusting the position of the rivet according to the posture change characteristics to achieve secondary calibration positioning.

[0055] It can be understood that the working process of the picking and inserting component is that the picking and inserting component is moved above the rivet storage position by the XY-axis transplanting component, where the transmission module 1, the first guiding module 21 and the second guiding module 22 work together to accurately adjust the position of the picking and inserting component to ensure that the positioning suction nozzle 214 can accurately align with the rivet and perform adsorption sampling. The air cylinder 211 drives the nozzle mounting seat 212 to move linearly downward along the guide rail, so that the positioning suction nozzle 214 approaches 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 adsorb the rivet. While adsorbing the rivet, the first detection component 215 and the second detection component detect relevant parameters to determine whether the rivet is in an ideal adsorption posture. At the same time, the XY-axis transplanting component works again to move the picking and inserting component adsorbed with the rivet above the target insertion position, and adjusts the position of the rivet through the pneumatic gripper 3 to achieve secondary calibration positioning to ensure that the rivet is in an accurate insertion position and posture. The air cylinder 211 drives the nozzle mounting seat 212 to move downward along the guide rail again to accurately insert the rivet into the target position. After the insertion is completed, the nozzle mounting seat 212 returns to the initial position and is ready for the next picking and inserting operation.

[0056] It can be understood that after long-term use, the positioning suction nozzle 214 will be worn or damaged, resulting in an uneven sealing edge of the positioning suction nozzle 214, a stronger adsorption force on one side of the positioning suction nozzle 214 and a weaker adsorption force on the other side, and the rivet will shift to the side with the stronger adsorption force or the rivet suction is unstable. The blockage of the internal structure of the nozzle will also affect the adsorption uniformity, making the rivet unstable or not properly adsorbed during the adsorption process. Therefore, the rivet position accuracy and rivet suction stability are improved by adjusting the adsorption force and adjusting the rivet position.

[0057] In a specific embodiment, preferably, the number of nozzle mounting seats 212, positioning nozzles 214, and suction rods 213 on the pick-and-place component is the same, all being 4. The first detection component 215 is an adsorption force detection component, which can be a built-in pressure sensor for monitoring 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 arranged 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 inside the nozzle, and the adsorption force is indirectly detected by sensing the change in gas pressure inside the positioning nozzle 214. The built-in pressure sensor does not occupy the adsorption position of the rivet, and its volume is usually small, so it will not have an obvious impact on the vacuum environment inside 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 sufficient 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 image of the positioning nozzle to determine the angular 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 image of the nozzle and the rivet to determine the wear condition of the positioning nozzle and the posture of the rivet. The speed detection component is arranged near the movement path of the positioning nozzle 214 to measure the descending speed of the positioning nozzle 214.

[0058] On the other hand, please refer to Figure 4 as shown in Figure 4 which is the decision diagram of the control method for the pick-and-place component in the embodiment of the present invention; specifically, the present invention provides a control method for the pick-and-place component of a rivet insertion device, including:

[0059] Collecting the adsorption force of each part of the positioning nozzle 214 to determine the adsorption force difference characteristics, and collecting the image of the nozzle and the rivet to determine the wear condition of the nozzle and the posture of the rivet;

[0060] And determining the posture change characteristics of the rivet in several adsorption states according to the rivet posture, where the posture change characteristics include deterministic change or random change;

[0061] Determining the adjustment methods for the positioning nozzle 214, the pneumatic gripper 3, and the vacuum generating device according to the posture change characteristics, where:

[0062] If the posture change characteristics are deterministic changes, then determining the position deviation and angular deviation of the rivet according to the rivet posture and the target insertion position, and the pneumatic gripper 3 adjusts the rivet position according to the position deviation and angular deviation;

[0063] If the attitude change characteristic is a random change, determine whether to replace or clean the positioning nozzle 214 according to the wear condition of the nozzle, or adjust the vacuum suction of the vacuum generating device according to the adsorption force difference characteristic and the preset adsorption force.

[0064] It can be understood that if the rivet always has a position deviation or an 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. Therefore, secondary positioning correction is achieved through the pneumatic gripper 3; if the rivet shows a tilted, shaking or unstable state after adsorption, and the attitude change during each adsorption has no obvious pattern and is relatively random, it may be caused by uneven adsorption force. Uneven adsorption force may be due to dust, debris or oil stains on the surface of the nozzle blocking the air holes, resulting in uneven distribution of the adsorption force, or the nozzle may be worn or deformed after long-term use, affecting the uniformity of the adsorption force.

[0065] In a specific embodiment, the target insertion position can be determined by image detection. The preset adsorption force can be determined according to the diameter of the rivet. The larger the diameter of the rivet, the greater the preset adsorption force of the positioning nozzle 214. If the diameter range of the rivet is 1 - 3 mm, the preset adsorption force range is 1 N - 5 N. If the diameter range of the rivet is 3 - 10 mm, the preset adsorption force range is 5 N - 30 N. In practice, the value range and preferred value of the preset adsorption force can be determined according to the actual situation, which is not specifically limited here and will not be elaborated further.

[0066] The present invention determines the attitude change characteristic of the rivet by identifying the attitude change law of the rivet during multiple adsorption processes, collects the adsorption force of each part of the positioning nozzle 214 to analyze the adsorption force difference characteristic, and takes pictures of the nozzle and rivet images to evaluate the wear condition and attitude, so as to achieve targeted adjustment of the positioning nozzle 214, pneumatic gripper 3 and vacuum generating device. For deterministic changes, the starting gripper is set to perform secondary calibration positioning on the rivet. For random changes, the positioning nozzle 214 is replaced or cleaned, or the vacuum suction is adjusted to deal with possible wear or insufficient adsorption force problems, thereby realizing secondary calibration positioning of the rivet after adsorption, improving the rivet positioning accuracy and increasing the stability of nail absorption, and effectively improving the efficiency and accuracy of automatic assembly.

[0067] Please refer to Figure 5 shown in Figure 5 is the step diagram for determining the attitude change characteristic in the embodiment of the present invention; specifically, in several adsorption states, the rivet deviation angle is determined based on the rivet attitude to determine the rivet deviation direction, and the attitude change characteristic is determined based on the repetition times of the direction of the rivet deviation direction and the distribution fluctuation state of the rivet deviation angle, where:

[0068] If the number of repetitions of the direction is greater than or equal to a preset number of repetitions, and the distribution fluctuation state is a consistent fluctuation, then the attitude change characteristic is a deterministic change;

[0069] If the number of repetitions of the direction is less than the preset number of repetitions, and the distribution fluctuation state is a differential fluctuation, then the attitude change characteristic is a random change.

[0070] In a specific embodiment, 40 to 60 positioning nozzle images during the rivet adsorption and installation process are taken to determine the rivet attitude in the adsorption state. Preferably, 50 positioning nozzle images can be collected to determine the rivet attitude. The value range of the preset number of repetitions is 40 to 45 times. Preferably, the preset number of repetitions is 42 times. The rivet deviation angle can be determined according to the detection method to determine the rivet attitude. At the same time, if the distribution fluctuation state of the rivet deviation angles corresponding to 50 times is a consistent fluctuation, and the number of repetitions of the direction is greater than 42 times, then the attitude change characteristic is a deterministic change; otherwise, it is a random change. Under the deterministic change, the pneumatic gripper 3 is used for secondary rivet position correction; under the random change, the adsorption force uniformity and the wear condition of the positioning nozzle 214 are determined, and accordingly, the vacuum generating device and the positioning nozzle 214 are adjusted. 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 average value of the sum of the rivet deviation angles corresponding to 50 times. In practice, the distribution fluctuation state, the value range, the preferred value, and the confirmation method of the preset number of repetitions can be determined according to the actual situation, and no specific limitation is made here and will not be elaborated further.

[0071] The present invention determines the rivet attitude in several adsorption states to determine the number of repetitions of the deviation direction of the rivet and the distribution fluctuation state of the deviation angle, and further analyzes the attitude change characteristic of the rivet during the adsorption process, which is convenient for subsequent adjustment of the vacuum generating device, the positioning nozzle 214, and the pneumatic gripper 3, thereby further improving the rivet adsorption stability, at the same time, improving the rivet positioning accuracy, enhancing the insertion efficiency, and effectively improving the effect of automatic assembly.

[0072] Specifically, the moving direction of the pneumatic gripper 3 is determined according to the rivet attitude and the target insertion position, and the moving distance of the pneumatic gripper 3 is determined based on the position deviation and the angle deviation.

[0073] It is understandable that during the rivet insertion process, in order to ensure that the rivet can be accurately inserted into the target position, the pneumatic gripper 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 made to approach the correct insertion posture and position. For example, if the rivet is in an inclined state and deviated to the right of the target position, then the pneumatic gripper 3 may need to move towards 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 angular difference between the current posture of the rivet and the vertical posture of the rivet after insertion. Combining the angle deviation and the position deviation, the movement mode of the pneumatic gripper 3 is determined to enable the rivet to reach a state where it can be accurately inserted.

[0074] In a specific embodiment, within a spatial coordinate system, the coordinates of the target insertion position are determined, and the image detection component is used to collect the image of the nozzle rivet, from which the current posture (such as the inclination angle, rotation direction, etc.) and position of the rivet are analyzed. At the same time, the target insertion position and the corresponding preset posture of the rivet are clarified. The movement direction of the pneumatic gripper 3 is the same as 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 movement distance of the pneumatic gripper 3. And the movement distance is compensated based on the angle deviation. For example, when there is an angle deviation in the rivet, its actual movement trajectory in space is often not a simple straight line, but includes a certain amount of rotation or arc movement. Therefore, the arc distance of the movement distance of the pneumatic gripper 3 corresponding to the angle deviation is used as the angular movement distance of the pneumatic gripper 3. Details are not described herein again.

[0075] The present invention determines the movement direction and movement distance of the pneumatic gripper 3 according to the rivet posture, the target insertion position, as well as the position deviation and the angle deviation, realizes the secondary correction of the rivet position by the pneumatic gripper 3, improves the accuracy and efficiency of rivet insertion, reduces problems such as insertion failure and workpiece damage caused by inaccurate rivet position and posture, and effectively improves the effect of automatic assembly.

[0076] Specifically, the actual wear characteristics of the positioning nozzle 214 are determined according to the image of the nozzle rivet, and the wear condition of the nozzle is judged as mild wear or severe wear according to the actual wear characteristics and the preset standard characteristics.

[0077] Specifically, based on the wear condition of the nozzle, it is judged whether to clean the positioning nozzle 214 or replace the positioning nozzle 214, where: the actual wear characteristics are the number and width of cracks on the contact surface between the positioning nozzle 214 and the rivet.

[0078] Specifically, the adjustment method for the positioning nozzle 214 is determined based on the wear condition of the nozzle, including:

[0079] If the wear condition of the nozzle is mild wear, then clean the positioning nozzle 214;

[0080] If the wear condition of the suction nozzle is severe wear, replace the positioning suction nozzle 214.

[0081] It can be understood that the positioning suction nozzle 214 is used to accurately pick up tiny rivets. If cracks appear on the contact surface between the positioning suction nozzle 214 and the rivet, it may lead to uneven adsorption force, causing the rivet to shift during the picking or placing process. At the same time, if the air holes on the surface of the positioning suction nozzle 214 are blocked by debris, it will also result in uneven adsorption force. Therefore, the treatment method for the positioning suction nozzle 214 is determined based on its wear condition to make the adsorption force evenly distributed. If it is slightly worn, clean the air holes of the positioning suction nozzle 214. If it is severely worn, replace the new positioning suction nozzle 214 to ensure the surface flatness.

[0082] In a specific embodiment, the second detection component is used to collect the image of the suction nozzle and the rivet, and preprocess the image of the suction nozzle and the rivet to enhance the image contrast and clarity. The segmentation algorithm is used to segment the image to extract the area of the positioning suction nozzle 214, such as threshold segmentation, edge detection, or region-based segmentation, etc. The actual wear feature is the wear degree of the key part size of the positioning suction nozzle 214, such as the wear diameter. Based on the features of the positioning suction nozzle 214 in the image of the suction nozzle and the rivet, determine the size of the positioning suction nozzle 214, compare the actual size of the positioning suction nozzle 214 with the preset standard feature, that is, the standard size, and determine the wear condition of the suction nozzle according to the reduction of the size. If the wear degree is between 1% and 5% of the preset standard feature size, it is slightly worn. If it exceeds 5% of the preset standard feature size, it is severely worn.

[0083] In another specific embodiment, the wear condition of the suction nozzle can also be determined according to the structural features of the actual positioning suction nozzle 214. If there are cracks or fissures in the actual positioning suction nozzle 214, a method combining morphological operations (such as dilation, erosion) and edge detection is used to highlight the features of the cracks and notches, and then the position and size are determined through connected region analysis. If the crack conforms to the preset crack feature, it is slightly worn. If the crack does not conform to the preset crack feature, it is severely worn. The preset crack feature is that the number of cracks is 1 to 2, and the crack width is 1 mm to 3 mm. In practice, the wear condition of the suction nozzle can be determined according to the actual situation, which is not specifically limited here and will not be elaborated further.

[0084] The present invention determines the actual wear feature of the positioning suction nozzle 214 based on the image of the suction nozzle and the rivet to determine the wear condition of the suction nozzle, thereby realizing that under the condition that the attitude change characteristic of the rivet is randomly changing, by replacing or cleaning the positioning suction nozzle 214 to cope with possible wear and insufficient adsorption force problems, improving the rivet positioning accuracy and increasing the stability of picking up the rivet, and effectively enhancing the effect of automatic assembly.

[0085] Specifically, compare the adsorption forces of each part of the positioning suction nozzle 214, and judge whether the difference feature of the adsorption force is too large local adsorption force or too small local adsorption force according to the comparison result.

[0086] Specifically, determine the adjustment method for the vacuum suction force based on the difference feature of the adsorption force, where:

[0087] The difference feature of the adsorption force is determined according to the fluctuation range of the adsorption forces 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 adsorption force and the preset adsorption force.

[0088] It can be understood that a pressure sensor is used to monitor the adsorption forces of different parts of the positioning suction nozzle 214 in real time. If it is found that the adsorption force values of each part of the suction nozzle are quite different, it can be determined that the rivet deviation is caused by uneven adsorption force. At the same time, since too high or too low air pressure generated by the vacuum generating device may cause uneven adsorption force, the adjustment method for the vacuum suction force is determined based on the difference feature of the adsorption force.

[0089] In a specific embodiment, there are 4 adsorption force detection parts of the positioning suction nozzle. If the adsorption force fluctuations of each part of the positioning suction nozzle 214 are all between 1% and 3%, there is no adsorption force difference. If there are 2 to 3 single positioning suction nozzle 214 parts with adsorption force fluctuations between 1% and 3%, and there are 1 to 2 positioning suction nozzle 214 parts with adsorption force greater than or less than the average value of the adsorption forces of the remaining positioning suction nozzle 214 parts, then the difference feature of the adsorption force is too large local adsorption force or too small local adsorption force. Adjust the size of the vacuum suction force by adjusting the output air pressure of the vacuum generating device through an air pressure regulating valve, and determine the adjustment amount of the vacuum suction force according to the adsorption force and the preset adsorption force. Assume that between 105% and 110% of the preset adsorption force, the positioning suction nozzle 214 can accurately adsorb the rivet and the rivet will not fall off. Then, based on the adsorption force difference between the sum of the adsorption forces of each part of the positioning suction nozzle 214 and the preset adsorption force, and the above range, determine the adjustment amount of the vacuum suction force. If the adsorption force difference exceeds 5% to 10% of the preset adsorption force, then adjust the vacuum suction force, and the adjustment amount of the vacuum suction force is 10% of the initial vacuum suction force. In practice, the difference feature of the adsorption force and the adjustment method of the vacuum suction force can be determined according to the actual situation, which is not specifically limited here and will not be elaborated further.

[0090] In another specific embodiment, the air path pipeline of the vacuum generating device can also be cleaned to remove accumulated dust, oil stains and other impurities, promote the air flow, and improve the uniformity of the adsorption force.

[0091] The present invention determines the adsorption force difference characteristics by comparing the adsorption forces of each part of the positioning suction nozzle 214, determines the adjustment method for the vacuum suction force according to the adsorption force difference characteristics, and adjusts the vacuum suction force method to address the problems of insufficient or excessive adsorption force, 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 enhancing the efficiency and accuracy of automated assembly.

[0092] Specifically, it further includes that during the process of the positioning suction nozzle 214 grasping the rivet, the descending speed of the positioning suction nozzle 214 and the image of the positioning suction nozzle are detected, the angular deviation of the positioning suction nozzle 214 is determined according to the image of the positioning suction nozzle, and the adjustment method for the descending speed is determined according to the angular deviation.

[0093] It can be understood that too fast a descending speed of the positioning suction nozzle 214 will cause the rivet to deviate during the grasping instant. Therefore, during the process of the positioning suction nozzle 214 grasping the rivet, the descending speed of the positioning suction nozzle 214 and the image of the positioning suction nozzle are detected to determine the angular deviation of the positioning suction nozzle 214 during the descending process.

[0094] In a specific embodiment, the image of the positioning suction nozzle can be collected every 5 ms, the angular deviation of the positioning suction nozzle 214 is determined by comparing the initial image of the positioning suction nozzle and the image of the positioning suction nozzle at the instant of contact with the rivet, image processing technology is used to extract the contour of the positioning suction nozzle 214, and it is determined whether there is a deviation in the horizontal, vertical or angular directions of the positioning suction nozzle 214. For example, if the position of the positioning suction nozzle 214 in the image of the positioning suction nozzle at the instant of contact with the rivet is shifted to the left relative to the positioning suction nozzle 214 in the initial image of the positioning suction nozzle, it is determined that the positioning suction nozzle 214 has a deviation in the horizontal direction, and then the descending speed of the positioning suction nozzle 214 is adjusted.

[0095] Specifically, the adjustment method for the descending speed is determined, where:

[0096] If the angular deviation is greater than the preset deviation threshold, the descending speed is reduced.

[0097] In a specific embodiment, the value range of the preset offset threshold is 3° to 6°, preferably, the value of the preset offset threshold is 4°. If the angle offset is greater than the preset offset threshold, it indicates that the descent speed is too fast, resulting in an offset of the positioning suction nozzle 214 when adsorbing the rivet instantaneously. Therefore, the descent speed is reduced. The value range of the initial descent speed of the positioning suction nozzle 214 is 20 mm / s to 50 mm / s, preferably, the initial descent speed of the positioning suction nozzle 214 is 30 mm / s. The reduction amount of the descent speed is 10% to 15% of the initial descent speed, preferably, the reduction amount of the descent speed is 12% of the initial descent speed. In practice, the value range and the preferred values of the preset offset threshold, the initial descent speed, and the reduction amount of the descent speed can be determined according to the actual situation, and no specific limitation is made here and will not be elaborated further.

[0098] During the process of the positioning suction nozzle 214 grasping the rivet in the present invention, the angle offset of the positioning suction nozzle 214 is determined according to the image of the positioning suction nozzle, and the adjustment method of the descent speed is determined according to the angle offset, which helps the positioning suction nozzle 214 to approach the rivet more smoothly, ensures the uniformity and stability of the adsorption force, improves the success rate of rivet grasping and the grasping and positioning accuracy, and effectively improves the efficiency and accuracy of automatic assembly.

[0099] So far, the technical solution of the present invention has been described in combination with the preferred embodiments shown in the 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, wherein the top of the suction rod is connected to a vacuum generating device, and a positioning suction nozzle is arranged 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, and the posture change characteristics include deterministic changes or random changes; 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 the posture change characteristics of the rivet in a plurality of adsorption states according to the rivet posture; Wherein, 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; 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; Among them, the actual wear characteristics of the positioning nozzle are determined according to the nozzle rivet image, and the nozzle wear condition is judged as light wear or heavy wear according to the actual wear characteristics and preset standard characteristics. The actual wear characteristics are the number and width of cracks on the contact surface between the positioning nozzle and the rivet, and the preset crack characteristics are that the number of cracks is 1 to 2 and the crack width is 1mm to 3mm.

3. The control method for the material taking and inserting assembly of the rivet inserting equipment according to claim 2 is characterized in that: Determining the characteristics of posture changes includes: 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 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.

6. 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.

7. The control method for the material taking and inserting assembly of the rivet inserting equipment according to claim 2 is 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.

8. The control method for the material taking and inserting assembly of the rivet inserting equipment according to claim 7, 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.

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