Clamping jaw automatic installation gear

Abstract

The invention relates to the field of diesel engines, and discloses a clamping jaw automatic mounting gear. The device comprises the gear grabbing mechanism, the tightening mechanism, the visual system and the floating compensation mechanism, the gear grabbing mechanism can be used for taking a product from an oiling table and clamping a gear through the gear grabbing mechanism, and the advanced clamping jaw design is adopted, so that the device can be adaptively adjusted according to the shapes and sizes of different products; according to the gear clamping device, the clamping force can be accurately controlled through the accurate force control technology, the situation that the installation quality of a gear is affected due to the fact that the clamping force is too large or too small can be avoided, the installed tightening mechanism can be responsible for tightening a connecting bolt between the gear and a cylinder body after the gear is aligned to the cylinder body in place, and therefore the gear clamping device can be used for clamping the gear. The high-precision tightening shaft is adopted, so that the tightening torque can be accurately controlled, the bolt can be ensured to be tightened in place, and the problems that a gear is not mounted in place and the bolt cannot be smoothly tightened on a cylinder body are avoided.

Description

Technical Field

[0001] This invention belongs to the field of diesel engine technology, specifically to an automatic gear mounting mechanism using grippers. Background Technology

[0002] The automatic gear mounting system for diesel engines uses automated equipment (such as robotic arms or specialized grippers) to precisely grasp and install gears, replacing traditional manual operations and significantly improving assembly efficiency and precision.

[0003] However, traditional installation structures often occupy a large space while ensuring installation functionality and production cycle time, which is not conducive to optimizing the layout of the production site. At the same time, they have poor product compatibility and cannot accommodate too many types of products. When multiple products need to be compatible, problems such as inaccurate clamping force control and insufficient positioning accuracy may occur, resulting in improper gear installation and affecting the overall performance and quality of the engine. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic gear mounting mechanism for grippers in order to solve the problems mentioned above.

[0005] The technical solution adopted in this invention is as follows: automatic gear installation by grippers, including a gear gripping mechanism, a tightening mechanism, a vision system, and a floating compensation mechanism.

[0006] By adopting the above technical solution, the gear gripping mechanism is used to pick up products from the oiling table and clamp the gears. It employs an advanced gripper design, allowing for adaptive adjustment based on the shape and size of different products, achieving multi-product compatibility. Simultaneously, precise force control technology ensures accurate control of the clamping force, preventing excessive or insufficient clamping force from affecting the gear installation quality. The tightening mechanism, after the gears are aligned with the cylinder body, is responsible for tightening the connecting bolts between the gears and the cylinder body. It uses a high-precision tightening shaft, enabling precise control of the tightening torque. To ensure bolts are tightened properly and to prevent issues such as misaligned gears or bolts not being properly tightened onto the cylinder block, an installed vision system identifies the gear's orientation, providing accurate information for subsequent gripping and installation operations. High-precision image recognition technology allows for quick and accurate determination of the gear's position and angle, ensuring accurate gripping. A floating compensation mechanism allows for minor adjustments during installation based on actual conditions, compensating for installation deviations caused by manufacturing or assembly errors, improving positioning accuracy, and guaranteeing the accuracy and stability of gear installation.

[0007] In a preferred embodiment, the gear gripping mechanism includes an adaptive gripper, a force sensor, and a drive device.

[0008] By adopting the above technical solution, the installed adaptive gripper can automatically adjust the opening and closing degree of the gripper according to the shape and size of different gears. The force sensor installed allows the gripper to continuously sense the force applied to the gear by the gripper during the gripping process and feed this data back to the control system in real time. This allows the control system to accurately adjust the gripping force of the gripper according to the preset gripping force range. The installed drive device provides power for the opening, closing and movement of the gripper, making it adaptable and versatile.

[0009] In a preferred embodiment, the tightening mechanism comprises a high-precision tightening shaft, a torque sensor, and a support mechanism.

[0010] By adopting the above technical solution, the high-precision tightening shaft can perform precise tightening operations according to the preset tightening torque and rotation angle. The torque sensor can monitor the torque output of the tightening shaft in real time during the tightening process, thereby allowing timely adjustment of the working parameters of the tightening shaft to ensure the quality and consistency of bolt tightening. The support mechanism can be used to fix the tightening shaft, ensuring the stability of the tightening shaft during operation, making it practical and stable.

[0011] In a preferred embodiment, the vision system comprises a high-definition camera, an image processing module, and lighting equipment.

[0012] By adopting the above technical solution, the installed high-definition camera can be used to capture the gear's orientation from all angles, thus clearly capturing the gear's detailed information. The installed image processing module can quickly and accurately identify the gear's position, angle, and other information, and convert this information into digital signals that the control system can recognize. The installed lighting equipment ensures that the high-definition camera can capture clear, high-quality gear images, making it comprehensive and convenient.

[0013] In a preferred embodiment, the floating compensation mechanism comprises structural components such as elastic elements and guiding devices.

[0014] By adopting the above technical solution, the elastic element can cause the gear to undergo elastic deformation according to the force when it encounters installation deviations caused by manufacturing errors, assembly errors, or other factors during installation. This generates a reverse force, which in turn allows for a slight adjustment of the gear's position. The installed guide device can guide the deformation direction of the elastic element, thereby ensuring the accuracy and stability of the floating compensation mechanism's adjustment action, making it versatile and adaptable.

[0015] In a preferred embodiment, the surface of the adaptive gripper is made of a special material with high friction.

[0016] By adopting the above technical solution and using special materials, the friction between the gripper and the gear can be increased, making the gripper more stable when grasping the gear. This effectively improves the reliability of gear grasping, reduces the risk of production interruption and equipment damage caused by gear falling off, and can also adapt to gears of different shapes, sizes and materials, making them stable and reliable.

[0017] In a preferred embodiment, the image processing module employs an advanced feature extraction and matching algorithm for image recognition.

[0018] By adopting the above technical solution, the image recognition algorithm enables the system to quickly and accurately determine the position and angle of the gear, greatly shortening the recognition time and improving the efficiency of the entire installation process. Furthermore, it can identify the position and angle of the gear even in complex environments such as uneven lighting or slight stains on the gear surface, making it comprehensive and practical.

[0019] In a preferred embodiment, the elastic element is a spring or elastic rubber, and the guiding device is a linear guide or a groove.

[0020] By adopting the above technical solution, the combined use of elastic elements and guiding devices can make the floating compensation mechanism move more smoothly and accurately during the adjustment process, thereby reducing the vibration and shaking caused by the compensation action, which in turn enhances the stability of the entire automatic gear mounting device and helps to improve the quality and consistency of gear installation.

[0021] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0022] 1. The adaptive design of the gear gripping mechanism enables the device to be compatible with a variety of gear products of different specifications and shapes, greatly improving the versatility and flexibility of the device and reducing production costs.

[0023] 2. Through the cooperation of force sensors and high-precision control systems, precise control of the gripping force of the grippers can be achieved, avoiding the problems of gear damage due to excessive gripping force or gear slippage due to insufficient gripping force, thus ensuring the stability and accuracy of gear gripping.

[0024] 3. Through the precise identification of the vision system and the minute adjustments of the floating compensation mechanism, the gears are ensured to be accurately aligned with the cylinder and installed in place, effectively avoiding the problem of bolts not being able to be tightened properly due to improper installation, thus improving the quality and reliability of gear installation.

[0025] 4. The overall design of the device fully considers the installation requirements of different products. While ensuring installation quality, it can quickly adapt to the installation of various products, thereby improving production efficiency and product quality.

[0026] 5. The modular design of this device makes the connection and cooperation between the components clearer and simpler, which facilitates subsequent modification, upgrading and maintenance according to production needs, and reduces maintenance costs.

[0027] 6. The layout of each mechanism is carefully designed, with a compact and reasonable structure, which can effectively reduce the overall space occupied by the equipment, making it suitable for production environments with limited space, and thus facilitating the optimization of the production site layout.

[0028] 7. The application of the vision system has enabled the automation and intelligence of the gear installation process, improved the level of automation in production, reduced manual intervention, reduced labor intensity, and improved production efficiency. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the gear gripping mechanism of the present invention;

[0030] Figure 2 This is a schematic diagram of the planar structure in this invention;

[0031] Figure 3 This is a schematic diagram of the overall device structure in this invention;

[0032] Figure 4 This is a schematic diagram of the overall planar structure of the device in this invention;

[0033] The markings in the diagram are: 1. Gear gripping mechanism; 2. Tightening mechanism; 3. Vision system; 4. Floating compensation mechanism. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Example:

[0036] Reference Figure 1-4The automatic gear mounting system includes a gear gripping mechanism 1, a tightening mechanism 2, a vision system 3, and a floating compensation mechanism 4. The gear gripping mechanism 1 is responsible for picking up products from the oiling table and clamping the gears. Its advanced gripper design allows for adaptive adjustment based on the shape and size of different products, ensuring multi-product compatibility. Precise force control technology ensures accurate clamping force control, preventing excessive or insufficient clamping force from affecting gear mounting quality. The tightening mechanism 2, after the gears are aligned with the cylinder body, tightens the connecting bolts between the gears and the cylinder body. It uses a high-precision tightening shaft to precisely control the tightening torque, ensuring the bolts are tightened securely. The installation ensures proper positioning, preventing issues such as misaligned gears and bolts that cannot be properly tightened onto the cylinder. The installed vision system 3 identifies the gear's orientation, providing accurate information for subsequent gripping and installation operations. Through high-precision image recognition technology, it can quickly and accurately determine the gear's position and angle, ensuring accurate gripping. The installed floating compensation mechanism 4 allows for minor adjustments during installation based on actual conditions, compensating for installation deviations caused by manufacturing or assembly errors, improving positioning accuracy, and guaranteeing the accuracy and stability of gear installation.

[0037] Reference Figure 1 The gear gripping mechanism 1 comprises an adaptive gripper, a force sensor, and a drive unit. The adaptive gripper automatically adjusts its opening and closing angle according to the shape and size of different gears. The force sensor continuously monitors the force applied by the gripper to the gear during gripping and feeds this data back to the control system in real time. This allows the control system to precisely adjust the gripping force of the gripper according to a preset gripping force range. The drive unit provides power for the opening, closing, and movement of the gripper, making it adaptable and versatile.

[0038] Reference Figure 1 The tightening mechanism 2 comprises a high-precision tightening shaft, a torque sensor, and a support mechanism. The high-precision tightening shaft enables precise tightening according to preset tightening torque and rotation angle. The torque sensor monitors real-time torque changes during tightening, allowing for timely adjustments to the shaft's operating parameters to ensure consistent and high-quality bolt tightening. The support mechanism secures the tightening shaft, ensuring its stability during operation and enhancing its practicality and stability.

[0039] Reference Figure 1The vision system 3 comprises a high-definition camera, an image processing module, and lighting equipment. The installed high-definition camera is responsible for capturing the gear's orientation from all angles, clearly capturing detailed information about the gear. The installed image processing module can quickly and accurately identify the gear's position, angle, and other information, converting this information into digital signals that the control system can recognize. The installed lighting equipment ensures that the high-definition camera captures clear, high-quality images of the gear, making it comprehensive and convenient.

[0040] Reference Figure 1 The floating compensation mechanism 4 comprises elastic elements and guiding devices. The elastic elements allow the gear to elastically deform under stress when encountering installation deviations caused by manufacturing or assembly errors during installation. This generates a reverse force, enabling minute adjustments to the gear's position. The guiding devices direct the deformation of the elastic elements, ensuring accurate and stable adjustment of the floating compensation mechanism and giving it versatility and adaptability.

[0041] Reference Figure 1 The adaptive gripper surface is made of a special material with high friction. This special material increases the friction between the gripper and the gear, making the gripper more stable when holding the gear. This effectively improves the reliability of gear gripping, reduces the risk of production interruptions and equipment damage caused by gears falling off, and can adapt to gears of different shapes, sizes, and materials, ensuring both stability and reliability.

[0042] Reference Figure 1 The image processing module employs an advanced feature extraction and matching algorithm for image recognition. This algorithm enables the system to quickly and accurately determine the position and angle of gears, significantly reducing recognition time and improving the efficiency of the entire installation process. Furthermore, it can identify gear positions and angles even in complex environments such as uneven lighting or when gear surfaces have slight dirt, making it comprehensive and practical.

[0043] Reference Figure 1 The elastic element is a spring or elastic rubber, and the guiding device is a linear guide or a slide. The combined use of the elastic element and the guiding device makes the floating compensation mechanism 4 move more smoothly and accurately during the adjustment process, thereby reducing the vibration and shaking caused by the compensation action. This enhances the stability of the entire automatic gear mounting device and helps improve the quality and consistency of gear mounting.

[0044] The implementation principle of the automatic gear installation embodiment of the present invention is as follows: The vision system 3 identifies the placement posture of the gear, thereby obtaining the position and angle information of the gear, and transmits this information to the control system. The control system controls the gear gripping mechanism 1 to pick up the product from the oiling table and clamp the gear according to the information provided by the vision system 3. During the clamping process, the clamping force is monitored in real time by the force sensor, so that the control system can adjust the clamping force of the gripper according to the monitoring results, thereby ensuring the accuracy of the clamping force. The gear gripping mechanism 1 drives the gear to the position aligned with the cylinder. The floating compensation mechanism 4 will make minor adjustments according to the actual situation, so that the gear can be accurately positioned. The control system controls the tightening mechanism to start, and the tightening shaft tightens the bolt according to the preset parameters. The torque sensor monitors the torque change in real time and feeds the data back to the control system, thereby ensuring that the bolt is tightened in place. After the bolt is tightened, the tightening mechanism 2 opens, and the gripper of the gear gripping mechanism 1 retracts, completing the gear installation process.

[0045] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gripper that automatically installs gears, characterized in that: It consists of a gear gripping mechanism (1), a tightening mechanism (2), a vision system (3), and a floating compensation mechanism (4).

2. The automatic gear mounting gripper as described in claim 1, characterized in that: The gear gripping mechanism (1) comprises an adaptive gripper, a force sensor, and a drive device.

3. The automatic gear mounting gripper as described in claim 1, characterized in that: The tightening mechanism (2) comprises a high-precision tightening shaft, a torque sensor, and a support mechanism.

4. The automatic gear mounting gripper as described in claim 1, characterized in that: The vision system (3) comprises a high-definition camera, an image processing module, and lighting equipment.

5. The automatic gear mounting gripper as described in claim 1, characterized in that: The floating compensation mechanism (4) includes structural components such as elastic elements and guiding devices.

6. The automatic gear mounting gripper as described in claim 1, characterized in that: The surface of the adaptive gripper is made of a special material with high friction.

7. The automatic gear mounting gripper as described in claim 1, characterized in that: The image processing module uses an advanced feature extraction and matching algorithm for image recognition.

8. The automatic gear mounting gripper as described in claim 1, characterized in that: The elastic element is a spring or elastic rubber, and the guiding device is a linear guide or a groove.

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