Angle control method and system in PSU cylinder body assembling process

Abstract

The invention discloses an angle control method and system in the PSU cylinder body assembling process, and the system comprises a visual system which carries out the visual detection of an oil inlet hole in the surface of a PSU cylinder body in the visual range of the visual system, carries out the angle positioning in the PSU cylinder body assembling process based on the visual detection, and carries out the angle control of the PSU cylinder body in the PSU cylinder body assembling process. The position of an oil inlet hole in the surface of the PSU cylinder body is aligned with an oil inlet groove in the valve block; and the four-axis manipulator is used for clamping the PSU cylinder body into the visual range of the visual system in the PSU cylinder body assembling process and carrying out angle control on the PSU cylinder body based on angle positioning of the visual system. The angle of the PSU cylinder body is controlled through the visual system, the stability of angle control of the PSU cylinder body can be guaranteed, and the problem that the precision requirement for clamping the PSU cylinder body by the four-axis mechanical arm is high is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of component assembly, and particularly to a method and a system for angle control during the assembly process of a PSU cylinder block. Background Art

[0002] A plurality of oil inlet holes are evenly distributed on the surface of the PSU cylinder block, as Figure 5 shown. The positions of these oil inlet holes 501 must be consistent with the internal oil inlet grooves of the valve block to ensure the flow rate requirements.

[0003] Figure 6 The figure is a schematic diagram of the existing technology's PSU cylinder block assembly scheme. As Figure 6 shown, in the existing technology's PSU cylinder block assembly scheme, sensors are used to align the oil inlet holes of the PSU cylinder block 60 with the internal oil inlet grooves of the valve block. Specifically, first, the four-axis manipulator 61 clamps the PSU cylinder block 60 and moves it to the sensor detection position, where it is necessary to ensure that the oil inlet holes around the PSU cylinder block 60 and the light beam of the photoelectric sensor 62 are on the same horizontal plane; then, the R-axis rotation motor of the four-axis manipulator 61 starts to rotate slowly; if the signal of the opposed photoelectric sensor 62 is detected, the R-axis rotation motor stops rotating, and at this time, the angle positioning of the PSU cylinder block 60 is completed; finally, the four-axis manipulator 61 clamps the PSU cylinder block 60 and moves it to the next process.

[0004] The above-mentioned existing technology's PSU cylinder block assembly scheme has the following defects:

[0005] 1. Poor stability. During the process of finding the angle, it is affected by the performance of the photoelectric sensor, such as the weakening of the light projected by the sensor's light emitter or the abnormal damage of the sensor, and it is difficult to complete the angle positioning at one time;

[0006] 2. It has very high precision requirements for the position of the Z-axis of the four-axis manipulator. Once there is a deviation in the height of clamping the PSU cylinder block, the angle positioning requirements cannot be completed. Summary of the Invention

[0007] In view of this, the present application provides a method and a system for angle control during the assembly process of a PSU cylinder block to at least solve the above technical problems.

[0008] To achieve the above object, the technical solution of the present application is implemented as follows.

[0009] According to one aspect of the present application, a system for angle control during the assembly process of a PSU cylinder block is provided, which includes:

[0010] A vision system that visually inspects the oil inlet holes on the surface of the PSU cylinder within its own visual range and performs angular positioning during the assembly process of the PSU cylinder based on the visual inspection, aligning the positions of the oil inlet holes on the surface of the PSU cylinder with the internal oil inlet grooves in the valve block; and

[0011] A four-axis manipulator that, during the assembly process of the PSU cylinder, holds the PSU cylinder within the visual range of the vision system and performs angular control of the PSU cylinder based on the angular positioning of the vision system.

[0012] In the above solution, the vision system further includes:

[0013] A vision device that is set at a predetermined visual inspection position for visually inspecting the PSU cylinder, and obtains visual inspection information on the positions of the oil inlet holes on the surface of the PSU cylinder within its own visual range; and

[0014] A control device that receives the visual inspection information from the vision device, calculates the offset of the oil inlet holes on the surface of the PSU cylinder based on the visual inspection information, and sends the calculated offset to the four-axis manipulator.

[0015] In the above solution, a reference picture is set in the control device, and the reference picture is a pre-prepared photo of the PSU cylinder with a qualified angle.

[0016] The control device compares the coordinates of the oil inlet holes on the surface of the PSU cylinder in the current visual inspection information obtained from the vision device with the coordinates of the oil inlet holes in the reference picture, calculates the coordinate difference, and then calculates the rotation angle of the PSU cylinder as the offset based on the coordinate difference.

[0017] In the above solution, the four-axis manipulator drives the R-axis rotation motor to rotate the PSU cylinder based on the offset of the oil inlet holes on the surface of the PSU cylinder obtained from the vision system to perform angle compensation for the PSU cylinder.

[0018] In the above solution, after the four-axis manipulator performs angular control of the PSU cylinder based on the angular positioning of the vision system, the vision system performs visual inspection on the oil inlet holes on the surface of the PSU cylinder again to confirm whether the angle of the PSU cylinder is qualified.

[0019] According to another aspect of the present application, a method for angular control during the assembly process of a PSU cylinder is provided, which includes:

[0020] Using a four-axis manipulator to place the PSU cylinder within the visual range of the vision system;

[0021] The vision system performs visual inspection on the surface oil inlet holes of the PSU cylinder block within the visual range, and obtains visual inspection information on the positions of the surface oil inlet holes of the PSU cylinder block;

[0022] Based on the visual inspection information, the vision system calculates the offset of the surface oil inlet holes of the PSU cylinder block;

[0023] The vision system sends the calculated offset of the surface oil inlet holes of the PSU cylinder block to the four-axis manipulator; and

[0024] Based on the offset of the surface oil inlet holes of the PSU cylinder block obtained from the vision system, the four-axis manipulator drives the R-axis rotation motor to drive the PSU cylinder block to rotate, so as to perform angle control of the PSU cylinder block.

[0025] In the above solution, in the step of calculating the offset of the surface oil inlet holes of the PSU cylinder block,

[0026] The vision system compares the coordinates of the surface oil inlet holes of the PSU cylinder block in the currently obtained visual inspection information with the coordinates of the oil inlet holes in the reference picture, calculates the coordinate difference, and based on the coordinate difference, calculates the rotation angle of the PSU cylinder block as the offset.

[0027] The reference picture is a photo of a PSU cylinder block with qualified angle prepared in advance.

[0028] The above solution further includes:

[0029] After the four-axis manipulator performs angle control of the PSU cylinder block based on the offset of the surface oil inlet holes of the PSU cylinder block obtained from the vision system, the vision system performs visual inspection on the surface oil inlet holes of the PSU cylinder block again to confirm whether the angle of the PSU cylinder block is qualified.

[0030] According to the present invention, by using a vision system to perform angle control of the PSU cylinder block, it is possible to solve the problems of the influence of the performance of the photoelectric sensor on the stability of the angle control of the PSU cylinder block and the deviation of the height of the four-axis manipulator when clamping the PSU cylinder block in the prior art, thereby ensuring the stability of the angle control of the PSU cylinder block and solving the problem of high precision requirements for the four-axis manipulator to clamp the PSU cylinder block. Description of the Drawings

[0031] Figure 1 It is a schematic structural composition diagram of the system for angle control during the assembly process of the PSU cylinder block according to the embodiment of the present invention;

[0032] Figure 2Explanatory schematic diagram (one) of the angle control system during the assembly process of the PSU cylinder block according to an embodiment of the present invention;

[0033] Figure 3 Explanatory schematic diagram (two) of the angle control system during the assembly process of the PSU cylinder block according to an embodiment of the present invention;

[0034] Figure 4 Flowchart of the method for angle control during the assembly process of the PSU cylinder block according to an embodiment of the present invention;

[0035] Figure 5 Structural schematic diagram of the PSU cylinder block;

[0036] Figure 6 Schematic diagram of the assembly scheme of the PSU cylinder block in the prior art. Detailed implementation manners

[0037] The technical solutions of the present application will be further elaborated in detail below in conjunction with the accompanying drawings of the specification and specific embodiments.

[0038] For each specific technical feature in each of the various embodiments described in the detailed implementation manners, various combinations can be made without conflict. For example, different embodiments can be formed through combinations of different specific technical features. To avoid unnecessary repetition, various possible combination methods of each specific technical feature in the present application will not be described separately.

[0039] The method and system for angle control during the assembly process of the PSU cylinder block of the present invention mainly solve the problems of the influence of the performance of the photoelectric sensor in the existing assembly scheme using the photoelectric sensor and the deviation in the height of gripping the PSU cylinder block.

[0040] Figure 1 Structural composition schematic diagram of the angle control system during the assembly process of the PSU cylinder block according to an embodiment of the present invention. As Figure 1 shown, the angle control system during the assembly process of the PSU cylinder block includes: a four-axis manipulator 11 and a vision system 12.

[0041] In this embodiment, during the assembly process of the PSU cylinder block 10, the four-axis manipulator 11 is used to grip the PSU cylinder block 10 for movement and assembly. The four-axis manipulator 11 is a series four-axis manipulator formed by connecting four drive shafts in series.

[0042] In this embodiment, during the assembly process of the PSU cylinder block, the four-axis manipulator 11 is used to clamp the PSU cylinder block 10 within the visual range of the vision system 12 for angle positioning of the PSU cylinder block 10. During this process, based on the angle positioning of the vision system 12, the R-axis rotation motor of the four-axis manipulator 11 rotates under the drive of the controller of the four-axis manipulator 11 to drive the PSU cylinder block 10 to rotate for angle control of the PSU cylinder block 10.

[0043] In this embodiment, the vision system 12 performs visual inspection on the surface oil inlet holes of the PSU cylinder block within its own visual range, and based on the visual inspection, performs angle positioning during the assembly process of the PSU cylinder block to align the positions of the oil inlet holes on the surface of the PSU cylinder block 10 with the internal oil inlet grooves in the valve block.

[0044] In this embodiment, the vision system 12 further includes a vision device 121 and a control device 122.

[0045] The vision device 121 is arranged at a predetermined vision inspection position for performing visual inspection on the PSU cylinder block 10, and obtains visual inspection information on the positions of the surface oil inlet holes of the PSU cylinder block 10 within its visual range. In this embodiment, the vision device 121 is specifically a vision camera.

[0046] The control device 122 receives the visual inspection information of the vision device 121, calculates the offset of the surface oil inlet holes of the PSU cylinder block 10 based on the visual inspection information. And the control device 122 sends the calculated offset to the controller of the four-axis manipulator 11 to control the R-axis rotation motor for angle compensation.

[0047] In this embodiment, a reference picture is set in the control device 122, and this reference picture is a qualified angle photo of the PSU cylinder block prepared in advance.

[0048] Figure 2 、 Figure 3 is an illustrative schematic diagram of the angle control system during the assembly process of the PSU cylinder block according to an embodiment of the present invention. As Figure 2 shown, the control device 122 compares the XY coordinates of the oil inlet holes in the current visual inspection information such as photos obtained from the vision device 121 with the XY coordinates of the oil inlet holes in the reference picture, and as Figure 3 shown, calculates the coordinate difference, and further based on the coordinate difference, calculates the rotation angle of the PSU cylinder block 10 as the above-mentioned offset.

[0049] The control device 122 sends the calculated offset to the controller of the four-axis manipulator 11.

[0050] The four-axis manipulator 11 drives the R-axis rotation motor to rotate the PSU cylinder block 10 based on the offset of the surface oil inlet holes of the PSU cylinder block 10 obtained from the control device 122, so as to perform angle compensation on the PSU cylinder block 10.

[0051] In addition, in a preferred solution, after the angle compensation of the PSU cylinder block 10, the vision device 121 performs a vision inspection on the surface oil inlet holes of the PSU cylinder block 10 again, and transmits the vision inspection information to the control device 122 to confirm whether the angle of the PSU cylinder block 10 is qualified. If it is qualified, it is confirmed that the angle control of the PSU cylinder block 10 is completed, and the four-axis manipulator 11 clamps the PSU cylinder block 10 and moves it to the next process. If it is not qualified, the angle compensation of the PSU cylinder block 10 continues.

[0052] As described above, for the angle control system during the assembly process of the PSU cylinder block according to the embodiments of the present application, by using a vision system to control the angle of the PSU cylinder block, it is possible to solve the problems of the influence of the performance of the optoelectronic sensor on the stability of the angle control of the PSU cylinder block and the easy deviation of the height of the four-axis manipulator when clamping the PSU cylinder block in the prior art, thereby ensuring the stability of the angle control of the PSU cylinder block and solving the problem of high precision requirements for the four-axis manipulator to clamp the PSU cylinder block.

[0053] Figure 3 It is a flowchart of the method for angle control during the assembly process of the PSU cylinder block according to the embodiments of the present invention. As Figure 3 shown, the method includes the following steps.

[0054] In step 301, the four-axis manipulator 11 is used to place the PSU cylinder block 10 within the visual range of the vision system 12.

[0055] In step 302, the vision device 121 performs a vision inspection on the surface oil inlet holes of the PSU cylinder block 10 within its own visual range, and obtains the vision inspection information of the positions of the surface oil inlet holes of the PSU cylinder block 10.

[0056] In step 303, the control device 122 calculates the offset of the surface oil inlet holes of the PSU cylinder block 10 based on the vision inspection information from the vision device 121.

[0057] In a preferred solution, a reference picture is set in the control device 122, and the reference picture is a photo of a qualified angle of the PSU cylinder block prepared in advance. As Figure 2 、 3 shown, the control device 122 compares the XY coordinates of the oil inlet holes in the current vision inspection information such as photos obtained from the vision device 121 with the XY coordinates of the oil inlet holes in the reference picture, calculates the coordinate difference, and then calculates the rotation angle of the PSU cylinder block 10 as the above offset based on the coordinate difference.

[0058] In step 304, the control device 122 sends the offset of the surface oil inlet hole of the PSU cylinder block 10 obtained by calculation to the four-axis manipulator 11.

[0059] In step 305, based on the offset of the surface oil inlet hole of the PSU cylinder block 10 obtained from the control device 122, the four-axis manipulator 11 drives the R-axis rotation motor to drive the PSU cylinder block 10 to rotate for angle compensation of the PSU cylinder block.

[0060] In addition, in a preferred solution, after the four-axis manipulator 11 performs angle compensation on the PSU cylinder block 10 based on the offset of the surface oil inlet hole of the PSU cylinder block 10 obtained from the control device 122, step 306 may further be included.

[0061] In step 306, the vision device 121 performs visual inspection on the surface oil inlet hole of the PSU cylinder block 10 again, and transmits the visual inspection information to the control device 122 to confirm whether the angle of the PSU cylinder block 10 is qualified. If it is qualified, it is confirmed that the angle control of the PSU cylinder block 10 is completed, and the four-axis manipulator 11 clamps the PSU cylinder block 10 and moves it to the next process. If it is not qualified, it returns to step 303 to continue the angle compensation of the PSU cylinder block 10.

[0062] According to the method for angle control during the assembly process of the PSU cylinder block according to the embodiment of the present invention, by using a vision system for angle control of the PSU cylinder block, it is possible to solve the problems of the influence of the performance of the photoelectric sensor on the stability of the angle control of the PSU cylinder block and the easy deviation of the height of the four-axis manipulator when clamping the PSU cylinder block in the prior art, thereby ensuring the stability of the angle control of the PSU cylinder block and solving the problem of high precision requirements for the four-axis manipulator to clamp the PSU cylinder block.

[0063] It should be noted that the method for angle control during the assembly process of the PSU cylinder block provided in the above embodiment and the Figure 1 angle control system provided during the assembly process of the PSU cylinder block belong to the same concept. The specific implementation process can refer to the above system embodiment and will not be elaborated here.

[0064] The above is only the embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, and all should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A system for angle control during the assembly process of a PSU cylinder block, characterized in that, Including: A vision system that visually inspects the oil inlet holes on the surface of the PSU cylinder within its own visual range, and performs angle positioning during the assembly process of the PSU cylinder based on the visual inspection, so that the positions of the oil inlet holes on the surface of the PSU cylinder are aligned with the internal oil inlet grooves of the valve block; And A four-axis manipulator that, during the assembly process of the PSU cylinder, clamps the PSU cylinder into the visual range of the vision system and performs angle control of the PSU cylinder based on the angle positioning of the vision system.

2. The system for angle control during the assembly process of the PSU cylinder block according to claim 1, wherein, The vision system further includes: A vision device that is arranged at a predetermined visual inspection position for visually inspecting the PSU cylinder, and obtains visual inspection information on the positions of the oil inlet holes on the surface of the PSU cylinder within its own visual range; and A control device that receives the visual inspection information from the vision device, calculates the offset of the oil inlet holes on the surface of the PSU cylinder based on the visual inspection information, and sends the calculated offset to the four-axis manipulator.

3. The system for angle control during the assembly process of the PSU cylinder according to claim 2, wherein A reference picture is set in the control device, and the reference picture is a photo of a qualified angle of the PSU cylinder prepared in advance. The control device compares the coordinates of the oil inlet holes on the surface of the PSU cylinder in the current visual inspection information obtained from the vision device with the coordinates of the oil inlet holes in the reference picture, calculates the coordinate difference, and further calculates the rotation angle of the PSU cylinder as the offset based on the coordinate difference.

4. The system for angle control during the assembly process of the PSU cylinder according to claim 2 or 3, wherein Based on the offset of the oil inlet holes on the surface of the PSU cylinder obtained from the vision system, the four-axis manipulator drives the R-axis rotation motor to drive the PSU cylinder to rotate for angle compensation of the PSU cylinder.

5. The system for angle control during the assembly process of the PSU cylinder according to claim 1, wherein After the four-axis manipulator performs angle control of the PSU cylinder based on the angle positioning of the vision system, the vision system performs visual inspection on the oil inlet holes on the surface of the PSU cylinder again to confirm whether the angle of the PSU cylinder is qualified.

6. A method for angle control during the assembly process of a PSU cylinder block, characterized in that, Including: Using a four-axis manipulator to place the PSU cylinder within the visual range of the vision system; The vision system performs visual inspection on the oil inlet holes on the surface of the PSU cylinder within the visual range, and obtains visual inspection information on the positions of the oil inlet holes on the surface of the PSU cylinder; The vision system calculates the offset of the oil inlet holes on the surface of the PSU cylinder based on the visual inspection information; The vision system sends the calculated offset of the oil inlet holes on the surface of the PSU cylinder to the four-axis manipulator; And Based on the offset of the oil inlet holes on the surface of the PSU cylinder obtained from the vision system, the four-axis manipulator drives the R-axis rotation motor to drive the PSU cylinder to rotate for angle control of the PSU cylinder.

7. The method for angle control during the assembly process of the PSU cylinder block according to claim 6, characterized in that, In the step of calculating the offset of the surface oil inlet hole of the PSU cylinder block, the vision system compares the coordinates of the surface oil inlet hole of the PSU cylinder block in the currently obtained vision detection information with the coordinates of the oil inlet hole in the reference picture, calculates the coordinate difference, and based on the coordinate difference, calculates the rotation angle of the PSU cylinder block as the offset, wherein the reference picture is a photo of a PSU cylinder block with a qualified angle prepared in advance.

8. The method for angle control during the assembly process of the PSU cylinder block according to claim 6, characterized in that, It further includes: After the four-axis manipulator controls the angle of the PSU cylinder block based on the offset of the surface oil inlet hole of the PSU cylinder block obtained from the vision system, the vision system performs a vision detection on the surface oil inlet hole of the PSU cylinder block again to confirm whether the angle of the PSU cylinder block is qualified.

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