Visual guidance automatic patching device
By using a vision-guided automatic patching device, the bending and angle adjustment of strain gauges are achieved through a scraper and a flipping assembly. This solves the problem of poor adhesion between strain gauges and curved parts, improves patching accuracy and versatility, and avoids patching defects.
Patent Information
- Application Number
- CN202611296328.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-08-25
- Publication Date
- 2026-11-06
AI Technical Summary
Existing strain gauge patching equipment suffers from poor adhesion between the strain gauge edges and the part surface when dealing with curved surfaces such as cylinders, rings, and tubular parts, resulting in decreased detection accuracy.
The visual-guided automatic patching equipment uses a robotic arm in conjunction with a scraper and a flipping component to achieve bending and fitting of strain gauges and angle adjustment. The scraper scrapes along the surface of the part and the suction cups are independently controlled to ensure that the strain gauges are fully fitted to the part.
It improves the adhesion between the strain gauge and the part surface, solves the problem of poor adhesion between the two sides of the strain gauge and the curved surface of the part, enhances the fitting accuracy and versatility, and avoids defects such as wrinkles and air bubbles.
Smart Images
Figure CN123044569A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of automated sensor manufacturing technology, and in particular to a vision-guided automated patch placement device. Background Technology
[0002] Strain gauges are core sensing elements based on the metal resistance strain effect. They can generate corresponding resistance changes in response to minute deformations such as tension, compression, and bending of the measured component, thereby converting mechanical signals into electrical signals. They are widely used in pressure sensors, industrial structural stress monitoring, and material mechanical property testing.
[0003] The quality of strain gauge placement determines the accuracy, stability, and consistency of sensor detection. With the upgrading of intelligent manufacturing and the precision sensing industry, vision-guided placement equipment is gradually replacing manual labor in existing technologies. This type of equipment uses a robotic arm in conjunction with a suction cup to grasp and place strain gauges. Relying on machine vision recognition technology, it can automatically complete operations such as workpiece positioning, strain gauge posture correction, and precise matching of placement points, significantly improving placement accuracy and operational efficiency, and meeting the needs of automated strain gauge placement production.
[0004] However, in sensor manufacturing, besides conventional planar elastic bodies, cylindrical, annular, and tubular elastic bodies are the mainstream substrate structures for torque sensors, cylindrical tension / compression sensors, and ring-shaped force sensors. When conventional patch-mount equipment uses robotic arms and suction cups to mount these parts, flat strain gauges are difficult to fully adhere to the curved surfaces of the parts. The adhesion between the strain gauge edges and the parts is poor, easily leading to curling at both ends of the strain gauge, which seriously affects the sensor's detection accuracy. Summary of the Invention
[0005] The purpose of this invention is to address the problem that existing strain gauge application equipment can only apply pressure to the strain gauge in one direction during application, resulting in poor adhesion between the edges of the strain gauge and the surface of the part, such as cylindrical, annular, and tubular parts. Therefore, a vision-guided automatic application equipment is proposed.
[0006] To achieve the above objectives, the present invention employs the following technology: a vision-guided automatic patch placement device, comprising a control body, wherein a robotic arm and an air pump are installed inside the control body, and further comprising: The patching mechanism includes a mounting plate fixed to the end of a robotic arm, a mounting base slidably connected to the bottom of the mounting plate, a mold fixed to the bottom of the mounting plate, a housing provided at the bottom of the mounting base, and a flipping assembly provided between the mounting base and the housing; A gripping mechanism, comprising a pressure plate, a suction cup at the bottom of the pressure plate, and a lifting assembly installed inside the housing; A scraping mechanism, comprising two symmetrically arranged scrapers, and an expansion unit is provided inside the housing; Before the gripping mechanism grips the strain gauge, two scrapers clamp and position the strain gauge; after the gripping mechanism grips the strain gauge, the two scrapers open and scrape and roll the strain gauge under the control of the robot arm, so that the strain gauge adheres to the surface of the part.
[0007] As a further description of the vision-guided automatic patching device described above: the scraper includes a frame slidably connected to the bottom of the housing, a scraper is hinged inside the frame, a torsion spring is provided at the hinge of the frame and the scraper, a baffle is fixed inside the frame, and a second spring is provided between the frame and the housing.
[0008] As a further description of the vision-guided automatic patching device described above: the expansion unit includes a first inclined block slidably connected between the pressure plate and the housing, and a second inclined block is fixed to the top of the frame.
[0009] As a further description of the vision-guided automatic patching device described above: the flipping assembly includes a motor fixedly installed inside the mounting base, a flipping plate is hinged to the bottom of the mounting base, and a connecting rod is hinged between the flipping plate and the drive shaft of the motor.
[0010] As a further description of the vision-guided automatic patching device described above: the patching mechanism further includes a sliding assembly, the sliding assembly including a hydraulic cylinder fixedly mounted on a mounting plate, and the telescopic end of the hydraulic cylinder being fixedly connected to a slider fixed to the mounting base.
[0011] As a further description of the vision-guided automatic patching device described above: the lifting assembly includes a second motor fixedly installed inside the housing, a threaded sleeve rotatably connected inside the housing, a gear set drivingly connecting the second motor and the threaded sleeve, and a threaded rod threadedly connected to the threaded sleeve is fixed on the top of the pressure plate.
[0012] As a further description of the vision-guided automatic patching device described above: the pressure plate has a main chamber and several unit chambers that correspond to the suction cups one by one. Each unit chamber is connected to the main chamber through an airflow channel. The unit chamber is equipped with a pressure relief unit, and the main chamber is equipped with a sealing unit.
[0013] As a further description of the vision-guided automatic patching device described above: the pressure relief unit includes a piston slidably connected to the interior of the unit chamber, a suction cup fixed to the bottom of the piston, a spring fixed between the top of the piston and the inner wall of the unit chamber, a sealing ball fixed to the top of the piston, and a filter screen provided at the top opening of the unit chamber.
[0014] As a further description of the vision-guided automatic patching device described above: a magnetic block is elastically installed inside the main chamber, a sealing ring is fixed to the outside of the magnetic block and fits against the inner wall of the main chamber, and an electromagnet is fixedly installed inside the main chamber.
[0015] As a further description of the vision-guided automatic patching device described above: the main chamber is connected to an air pump via an air pipe, and a solenoid valve is installed on the air pipe.
[0016] In summary, due to the adoption of the above-mentioned technology in this vision-guided automatic patch placement device, the beneficial effects of this invention are: 1. After the strain gauge is adhered to the surface of the part, two symmetrically arranged scrapers move along the curved surface of the cylindrical part, scraping and rolling the strain gauge from the center to the edge. This allows the strain gauge to conform to the curvature of the cylindrical part surface, ensuring full adhesion to the part and improving the bonding effect of the strain gauge to the curved surface of the cylindrical part. This solves the problem of poor adhesion between the two edges of the strain gauge and the curved surface of the part. Furthermore, the gradual scraping and rolling of the strain gauge from the center to the edge by the two scrapers also sequentially squeezes out the air between the strain gauge and the part surface, ensuring a secure and reliable fit between the entire width of the strain gauge and the curved surface of the part.
[0017] 2. By controlling the upward movement of the pressure plate, the scraper can be deflected under the elastic force of the torsion spring. In conjunction with the height adjustment of the robot arm, the two deflected scrapers can clamp and position the strain gauge, aligning the strain gauge with the pressure plate axially, thereby improving the accuracy of axially attaching the strain gauge to the columnar part.
[0018] 3. In addition to attaching strain gauges to horizontally placed parts, this invention can also rotate strain gauges 90 degrees and attach them to the outside of vertically placed columnar parts through the flipping and sliding components, which has greater versatility compared to existing equipment.
[0019] 4. This invention enables each suction cup to be independently controlled through a pressure relief unit and a sealing unit. At the same time, the strain gauge angle can be adjusted in real time with the flipping component. When the strain gauge is pasted on the surface of the part along the bending direction, the strain gauge can be laid gradually from top to bottom to conform to the curved surface of the part. This effectively avoids the wrinkles and air bubbles caused by directly pasting the whole strain gauge on the curved surface of the part, thereby improving the patching effect. Attached Figure Description
[0020] Figure 1 An overall schematic diagram of the present invention is shown; Figure 2 A schematic diagram of the robotic arm of the present invention is shown; Figure 3 The present invention is shown. Figure 2 Enlarged view of point A in the middle; Figure 4 A schematic diagram of the outer casing of the present invention is shown; Figure 5 A schematic diagram of the sliding component of the present invention is shown; Figure 6 A schematic diagram of the flipping component of the present invention is shown; Figure 7 A schematic diagram of the lifting component of the present invention is shown; Figure 8 A schematic diagram of the scraper of the present invention is shown; Figure 9 A schematic diagram of the expansion unit of the present invention is shown; Figure 10 An exploded view of the pressure plate of the present invention is shown; Figure 11 A schematic diagram of the sealing unit of the present invention is shown; Figure 12 A schematic diagram of the first state of the present invention is shown; Figure 13 A schematic diagram of the second state of the present invention is shown.
[0021] Legend: 10. Control unit; 11. Robotic arm; 12. Air pump; 20. Patch mounting mechanism; 21. Mounting plate; 22. Mounting base; 23. Housing; 24. Flip assembly; 241. Motor 1; 242. Linkage; 243. Flip plate; 25. Sliding assembly; 251. Hydraulic cylinder; 252. Slider; 26. Mold; 30. Gripping mechanism; 31. Pressure plate; 32. Suction cup; 33. Lifting assembly; 331. Motor II; 332. Gear set; 333. Threaded sleeve; 334. Threaded rod; 34. Main chamber; 35. Airflow channel; 36. Unit chamber; 37. Pressure relief unit; 371. Piston; 372. Spring I; 373. Sealing ball; 374. Filter screen; 38. Sealing unit; 381. Magnetic block; 382. Electromagnet; 383. Sealing ring; 39. Air pipe; 310. Solenoid valve; 40. Scraping mechanism; 41. Scraper; 411. Frame; 412. Scraper; 413. Torsion spring; 414. Spring II; 415. Baffle; 42. Expansion unit; 421. Inclined block I; 422. Inclined block II. Detailed Implementation
[0022] The following will describe in detail, with reference to the accompanying drawings of the embodiments of the present invention, a vision-guided automatic patching device according to the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. 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.
[0023] like Figures 1-13 As shown, the present invention provides a vision-guided automatic patching device, including a control body 10, a robot arm 11 and an air pump 12 are fixedly installed inside the control body 10, and a patching mechanism 20, a gripping mechanism 30 and a scraping mechanism 40 are installed at the end of the robot arm 11.
[0024] Reference Figures 2-6 The patching mechanism 20 includes a mounting plate 21 fixed to the end of the robot arm 11. A mounting base 22 is slidably connected to the bottom of the mounting plate 21, and a housing 23 is provided at the bottom of the mounting base 22.
[0025] Reference Figure 7 , Figure 8 and Figure 9 The gripping mechanism 30 includes a pressure plate 31 with a width greater than that of the strain gauge. Several suction cups 32 are fixed to the bottom of the pressure plate 31, with a diameter smaller than that of the strain gauge. An air pipe 39, rotatably connected to the top of the pressure plate 31 and connected to the air nozzle of the air pump 12, is connected to the pressure plate 31. After the suction cup 32 contacts the strain gauge, the air pump 12 draws air from inside the suction cup 32 through the air pipe 39, creating a negative pressure inside the suction cup 32, thereby controlling the outer casing 23 to grip the strain gauge. Similarly, the air pump 12 supplies air to the inside of the suction cup 32 through the air pipe 39 to balance the air pressure inside and outside the suction cup 32, thus releasing the negative pressure and separating the strain gauge from the suction cup 32.
[0026] The housing 23 is equipped with a lifting assembly 33. The lifting assembly 33 includes a motor 331 fixedly installed inside the housing 23. A threaded sleeve 333 is rotatably connected inside the housing 23. A gear set 332 is connected between the motor 331 and the threaded sleeve 333. The gear set 332 consists of two meshing bevel gears. The two bevel gears are fixed to the threaded sleeve 333 and the drive shaft of the motor 331, respectively. A threaded rod 334 that is threadedly connected to the threaded sleeve 333 is fixed to the top of the pressure plate 31.
[0027] The scraping mechanism 40 includes two scrapers 41 symmetrically arranged about the pressure plate 31. Each scraper 41 includes a frame 411 slidably connected to the bottom of the housing 23. Scrapers 412 are hinged inside the frame 411. The distance between the two scrapers 412 is equal to the width of the pressure plate 31. A torsion spring 413 is provided at the hinge point between the frame 411 and the scrapers 412. The torsion spring 413 is always in a tightened state. Under the elastic force of the torsion spring 413, the two scrapers 412... The opposing sides of the scraper 412 are respectively attached to the two sides of the pressure plate 31. At this time, the pressure plate 31 blocks the scraper 412 from deflecting. The frame 411 is fixed with a baffle 415 inside. When the pressure plate 31 does not block the scraper 412, under the elastic force of the torsion spring 413, the bottom ends of the two scrapers 412 deflect towards each other until they contact. At this time, the top of the scraper 412 is blocked by the baffle 415, so that the scraper 412 maintains the deflection angle. A second spring 414 is provided between the frame 411 and the outer shell 23.
[0028] An expansion unit 42 is provided inside the outer shell 23. The expansion unit 42 includes a first inclined block 421 that is slidably connected inside the outer shell 23. A positioning rod is fixed to the top of the pressure plate 31. The positioning rod is slidably connected to the first inclined block 421, so that the pressure plate 31 cannot rotate around the axis of the threaded rod 334 relative to the outer shell 23. A second inclined block 422 that is slidably connected to the outer shell 23 is fixed to the top of the frame 411. The second inclined block 422 fits against the inclined surface of the first inclined block 421. The second inclined blocks 422 on the two frames 411 are symmetrically arranged.
[0029] The starter motor 331 drives the bevel gear fixed to its drive shaft to rotate. This bevel gear drives the threaded sleeve 333 to rotate through another bevel gear. The threaded rod 334 is fixed to the pressure plate 31 and cannot rotate axially. Therefore, the rotation of the threaded sleeve 333 can drive the threaded rod 334 and the pressure plate 31 to rise or fall.
[0030] During the application of the strain gauge, the pressure plate 31 is in its lowest position, with its bottom surface lower than the scraper 412. The robotic arm 11 moves the mounting plate 21, mounting base 22, housing 23, and pressure plate 31, causing the pressure plate 31 to pick up the strain gauge placed in the tray via the suction cup 32. The strain gauge is then moved above the part to be fitted, and finally, it is vertically and downwardly pasted onto the surface of the part. Adhesive is used to bond the part to the strain gauge; the adhesive must be pre-applied to the area on the part to be fitted.
[0031] When applying strain gauges to cylindrical, annular, and tubular parts, the parts are placed flat in the tray. After the pressure plate 31 picks up the strain gauges through the suction cup 32, the strain gauges are aligned with the axial direction of the parts. Then, the robot arm 11 drives the pressure plate 31 and the suction cup 32 to move vertically downward, and the strain gauges are pasted onto the surface of the parts along the axial direction. Then, the lifting assembly 33 drives the pressure plate 31 to move upward. When the top surface of the pressure plate 31 contacts the bottom surface of the inclined block 421, the pressure plate 31 no longer blocks the scraper 412. At this time, the bottom ends of the two scrapers 412 are deflected relative to each other until they contact each other, and the top of the scraper 412 is blocked by the baffle 415. The lifting assembly 33 continues to move the pressure plate 31 upwards, which in turn lifts the first inclined block 421 upwards. This, in turn, pushes the second inclined block 422 on the two frames 411 to move horizontally away from each other, thereby causing the two frames 411 and the scraper 412 to move away from each other on the horizontal plane. At the same time, the robotic arm 11 moves the scraper 412 downwards, allowing its bottom end to move along the curved surface of the part and scrape the strain gauge. This causes the strain gauge to bend to conform to the surface of the part, ensuring it is fully in contact with the part. This improves the adhesion of the strain gauge to the curved surface and solves the problem of poor adhesion between the two edges of the strain gauge and the curved surface of the part.
[0032] Moreover, the two scrapers 412 move in opposite directions, gradually scraping and rolling the strain gauge from the middle to the edge, which can also squeeze out the air between the strain gauge and the surface of the part in sequence. This is especially suitable for cylindrical arc-shaped outer walls, ensuring that the entire surface of the strain gauge fits firmly against the curved surface of the part.
[0033] Based on the above design, if the strain gauge tilts slightly before the gripping mechanism 30 grips it, the scraper 412 can be deflected under the elastic force of the torsion spring 413 by controlling the pressure plate 31 to move upward. With the height adjustment of the robot arm 11, the two scrapers 412 can clamp and position the strain gauge by deflection, so that the strain gauge is axially aligned with the pressure plate 31, thereby improving the accuracy of axially pasting the strain gauge onto the columnar part.
[0034] Reference Figure 5 and Figure 6 Considering that cylindrical, ring, and tubular parts are usually placed vertically in the tray to avoid rolling during transportation, the present invention makes an adaptive design. A mold 26 is fixed at the bottom of the mounting plate 21, and a flipping assembly 24 is provided between the mounting base 22 and the outer shell 23. The flipping assembly 24 includes a motor 241 fixedly installed inside the mounting base 22. A flipping plate 243 is hinged to the bottom of the mounting base 22. A connecting rod 242 is hinged between the flipping plate 243 and the drive shaft of the motor 241. The connecting rod 242 is composed of a connecting rod 1 and a connecting rod 2, which are hinged end to end. The top end of the connecting rod 1 is fixed to the drive shaft of the motor 241 and hinged to the mounting base 22, and the bottom end of the connecting rod 2 is hinged to the middle of the top surface of the flipping plate 243.
[0035] The starter motor 241 drives the first connecting rod to deflect, which in turn drives the second connecting rod to push the tilting plate 243, causing the tilting plate 243 to deflect around the hinge point with the mounting base 22. The maximum downward tilting angle of the tilting plate 243 is 90 degrees, and the maximum upward tilting angle is 20 degrees.
[0036] The patch assembly 20 also includes a sliding assembly 25, which includes a hydraulic cylinder 251 fixedly mounted on the mounting plate 21. The telescopic end of the hydraulic cylinder 251 is fixedly connected to a slider 252 fixed to the mounting base 22.
[0037] like Figure 12 As shown, the flip plate 243 can be switched to a vertical state by tilting downwards by 90 degrees, which drives the outer shell 23 and the gripping mechanism 30 to flip into a vertical state. Then, the hydraulic cylinder 251 is controlled to retract, which drives the slider 252 and the mounting base 22 to slide, so that the gripping mechanism 30 drives the strain gauge to move horizontally until the strain gauge is attached to the vertically placed part.
[0038] In the above process, the mold 26 is used to position and support the parts to prevent them from shifting during placement. When placing small batches of parts, or even placing parts of a single model, there may be a lack of molds 26 that are compatible with the parts. In this case, a flat plate is fixed directly to the bottom of the mounting plate 21. By controlling the pressure plate 31 to retract between the two scrapers 412, the parts can be clamped and positioned by the cooperation of the two scrapers 412 and the flat plate.
[0039] Reference Figure 10 and Figure 11 Considering that in some cases it is necessary to attach strain gauges to the surface of the part along the bending direction, such as Figure 13 As shown, in order to improve the adhesion effect of the strain gauge and enhance the functionality of the device, a main chamber 34 and several unit chambers 36 corresponding to the suction cups 32 are provided inside the pressure plate 31. Each unit chamber 36 is connected to the main chamber 34 through an airflow channel 35.
[0040] Each unit chamber 36 is equipped with a pressure relief unit 37. The pressure relief unit 37 includes a piston 371 slidably connected inside the unit chamber 36, a suction cup 32 fixed to the bottom of the piston 371, the bottom surface of the piston 371 extending from the bottom of the pressure plate 31, a spring 372 fixed between the top of the piston 371 and the inner wall of the unit chamber 36, a sealing ball 373 fixed to the top of the piston 371, and a filter screen 374 provided at the top opening of the unit chamber 36. When the bottom of the piston 371 is not under pressure, the spring 372 is in a compressed state, and the piston 371 is subjected to a downward elastic force, causing the sealing ball 373 to seal in the top opening of the unit chamber 36.
[0041] When the gripping mechanism 30 grips the strain gauge, the pressure between the suction cup 32 and the strain gauge is relatively small, which will not press the piston 371 into the pressure plate 31, causing the sealing ball 373 to move upward and open the unit chamber 36 to leak air.
[0042] The main chamber 34 is provided with a sealing unit 38. The sealing unit 38 includes a magnetic block 381 that is elastically installed inside the main chamber 34. A sealing ring 383 that fits against the inner wall of the main chamber 34 is fixed to the outside of the magnetic block 381. An electromagnet 382 is fixedly installed inside the main chamber 34. The main chamber 34 is connected to the bottom end of the air pipe 39. A solenoid valve 310 is installed on the air pipe 39.
[0043] After the suction cup 32 contacts the strain gauge, the air pump 12 draws air from the main chamber 34, the airflow channel 35 and the unit chamber 36 through the air pipe 39. The negative pressure inside the unit chamber 36 causes the strain gauge to be attracted to the bottom of the suction cup 32. The solenoid valve 310 is closed, and then the electromagnet 382 is activated to drive the magnetic block 381 and the sealing ring 383 to move upward through magnetic repulsion. The sealing ring 383 seals the connection between the main chamber 34 and the airflow channel 35, so that the air pressure inside each suction cup 32 and the unit chamber 36 is independent of each other. Then, the robotic arm 11 moves the pressure plate 31, piston 371, and suction cup 32, while the tilting assembly 24 adjusts the angles of the pressure plate 31 and strain gauges according to the curvature of the part. Figure 13 As shown, the strain gauge tip first contacts the surface of the part. At this time, the uppermost piston 371 presses the strain gauge onto the part, increasing the pressure between the piston 371 and the part. This causes the piston 371 to retract into the unit chamber 36 and pull the sealing ball 373 out from the top opening of the unit chamber 36. After the strain gauge tip is in contact with the part, outside air enters the unit chamber 36 through the opening to eliminate the negative pressure. This causes the suction cup 32 at the bottom of the piston 371 to no longer hold the strain gauge. Then, the flip plate 24 is adjusted simultaneously by the robot arm 11. Position 3; by adjusting the angle of the pressure plate 31 through the flipping component 24, the next piston 371 presses the strain gauge onto the surface of the part, and so on, from top to bottom, the strain gauges are pressed by each piston 371 and suction cup 32 in sequence, so that the strain gauges are in contact with the surface of the part. When switching pistons 371 and suction cups 32, the suction force of the previous suction cups 32 is eliminated, so that the strain gauges are laid gradually from top to bottom in accordance with the curved surface of the part, effectively avoiding the wrinkles and air bubbles caused by directly pasting the whole strain gauge on the curved surface of the part, thereby improving the patching effect.
[0044] Working principle: In the initial state, the bottom surface of the pressure plate 31 is lower than the scraper 412. The manipulator 11 drives the pressure plate 31 and the suction cup 32 to move down, so that the suction cup 32 contacts the strain gauge in the material tray. The air pump 12 is controlled to draw air from the unit chamber 36 through the air pipe 39, the main chamber 34 and the air flow channel 35, so that a negative pressure is formed inside the suction cup 32 to adsorb and grab the strain gauge.
[0045] The robotic arm 11 moves the patching mechanism 20 and the strain gauge, bringing the cylindrical part into contact with the inner wall of the mold 26. Then, the motor 1 241 is started to drive the connecting rod 1 to deflect. The connecting rod 1 drives the connecting rod 2 to push the flip plate 243, causing the flip plate 243 to deflect around the hinge point with the mounting base 22 until the flip plate 243 drives the outer shell 23 and the pressure plate 31 to deflect 90 degrees, switching the strain gauge to a vertical state.
[0046] The hydraulic cylinder 251 is controlled to retract, causing the slider 252 and the mounting base 22 to slide, so that the gripping mechanism 30 moves the strain gauge horizontally in the direction of the part until the strain gauge is attached to the vertically placed part. At this time, the strain gauge is axially aligned with the columnar part.
[0047] The sliding assembly 25 increases the pressure between the piston 371 and the part, causing the piston 371 to retract into the unit chamber 36, which in turn drives the sealing ball 373 to extend out from the top opening of the unit chamber 36. Air enters the unit chamber 36 after passing through the filter screen 374, eliminating the negative pressure in the suction cup 32 and preventing the strain gauge from being adsorbed.
[0048] The starter motor 331 drives the bevel gear fixed to its drive shaft to rotate. This bevel gear drives the threaded sleeve 333 to rotate through another bevel gear, causing the threaded rod 334 and the pressure plate 31 to move towards the inside of the outer casing 23. When the top surface of the pressure plate 31 contacts the bottom surface of the inclined block 421, the pressure plate 31 no longer blocks the scraper 412. At this time, the torsion spring 413 drives the two scrapers 412 to deflect relative to each other until their bottom ends contact, and the top of the scraper 412 is blocked by the baffle 415.
[0049] The robotic arm 11 moves the scraper 412, bringing its bottom end into contact with the central axis of the strain gauge. Then, the lifting assembly 33 moves the pressure plate 31 upwards, pushing the first inclined block 421 upwards. This, in turn, pushes the second inclined block 422 on the two frames 411 to move horizontally away from each other, thus moving the two frames 411 and the scraper 412 away from each other. Simultaneously, the robotic arm 11 moves the scraper 412, allowing its bottom end to move along the curved surface of the part and scrape and grind the strain gauge, causing it to bend to conform to the surface of the part and fully adhere to it.
[0050] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the present invention's technology and inventive concept, should be covered within the scope of protection of the present invention.
Claims
1. A vision-guided automatic patch placement device, comprising a control body (10), wherein a robotic arm (11) and an air pump (12) are installed inside the control body (10), characterized in that, Also includes: The patching mechanism (20) includes a mounting plate (21) fixed to the end of the robot (11), a mounting base (22) is slidably connected to the bottom of the mounting plate (21), a mold (26) is fixed to the bottom of the mounting plate (21), a housing (23) is provided at the bottom of the mounting base (22), and a flipping component (24) is provided between the mounting base (22) and the housing (23). The gripping mechanism (30) includes a pressure plate (31), a suction cup (32) is provided at the bottom of the pressure plate (31), a lifting assembly (33) is installed inside the outer shell (23), and an air pipe (39) is rotatably connected to the top of the pressure plate (31). The scraping mechanism (40) includes two scrapers (41) arranged symmetrically, and an expansion unit (42) is provided inside the housing (23). Before the gripping mechanism (30) grips the strain gauge, two scrapers (41) clamp and position the strain gauge; after the gripping mechanism (30) grips the strain gauge, the two scrapers (41) open and scrape and roll the strain gauge under the control of the robot (11) so that the strain gauge adheres to the surface of the part.
2. The vision-guided automatic patch placement equipment according to claim 1, characterized in that, The scraper (41) includes a frame (411) slidably connected to the bottom of the outer shell (23), a scraper (412) is hinged inside the frame (411), a torsion spring (413) is provided at the hinge of the frame (411) and the scraper (412), a baffle (415) is fixed inside the frame (411), and a second spring (414) is provided between the frame (411) and the outer shell (23).
3. The vision-guided automatic patch placement equipment according to claim 2, characterized in that, The expansion unit (42) includes a first inclined block (421) slidably connected between the pressure plate (31) and the outer shell (23), and a second inclined block (422) is fixed to the top of the frame (411).
4. The vision-guided automatic patch placement equipment according to claim 1, characterized in that, The flipping assembly (24) includes a motor (241) fixedly installed inside the mounting base (22), a flipping plate (243) is hinged to the bottom of the mounting base (22), and a connecting rod (242) is hinged between the flipping plate (243) and the drive shaft of the motor (241).
5. A vision-guided automatic patch placement device according to claim 1, characterized in that, The patching mechanism (20) further includes a sliding assembly (25), which includes a hydraulic cylinder (251) fixedly mounted on the mounting plate (21), and the telescopic end of the hydraulic cylinder (251) is fixedly connected to a slider (252) fixed to the mounting base (22).
6. The vision-guided automatic patch placement equipment according to claim 1, characterized in that, The lifting assembly (33) includes a second motor (331) fixedly installed inside the housing (23), a threaded sleeve (333) rotatably connected inside the housing (23), a gear set (332) drivingly connected between the second motor (331) and the threaded sleeve (333), and a threaded rod (334) threadedly connected to the threaded sleeve (333) fixed on the top of the pressure plate (31).
7. A vision-guided automatic patch placement device according to claim 1, characterized in that, The pressure plate (31) has a main chamber (34) and several unit chambers (36) that correspond to the suction cups (32) respectively. Each unit chamber (36) is connected to the main chamber (34) through an airflow channel (35). The unit chamber (36) is equipped with a pressure relief unit (37), and the main chamber (34) is equipped with a sealing unit (38).
8. A vision-guided automatic patch placement device according to claim 7, characterized in that, The pressure relief unit (37) includes a piston (371) slidably connected inside the unit chamber (36), a suction cup (32) fixed to the bottom of the piston (371), a spring (372) fixed between the top of the piston (371) and the inner wall of the unit chamber (36), a sealing ball (373) fixed to the top of the piston (371), and a filter screen (374) provided at the top opening of the unit chamber (36).
9. A vision-guided automatic patch placement device according to claim 7, characterized in that, A magnetic block (381) is elastically installed inside the main chamber (34), and a sealing ring (383) that fits against the inner wall of the main chamber (34) is fixed to the outside of the magnetic block (381). An electromagnet (382) is fixedly installed inside the main chamber (34).
10. A vision-guided automatic patch placement device according to claim 7, characterized in that, The main chamber (34) is connected to the air pump (12) via an air pipe (39), and a solenoid valve (310) is installed on the air pipe (39).