Thrust wheel feeding device with visual recognition function

Abstract

The utility model provides a thrust wheel feeding device with a visual recognition function. The thrust wheel feeding device comprises a supporting frame and a feeding mechanism, the first linear moving module is horizontally mounted on the supporting frame; the second linear moving module is horizontally mounted at the output end of the first linear moving module, and the second linear moving module is perpendicular to the first linear moving module; the third linear moving module is vertically mounted at the output end of the second linear moving module, and the third linear moving module is perpendicular to the second linear moving module; the clamping module is mounted at the output end of the third linear moving module; the visual identification module is mounted at the output end of the third linear movement module; and thrust wheels are placed on the goods shelf.

Description

Technical Field

[0001] The utility model relates to the field of excavator assembly production lines, and more specifically, to a track wheel feeding device with a visual recognition function. Background Art

[0002] The track roller is a roller that supports the weight of the machine in the crawler walking device. The track roller assembly line was previously mainly assembled manually, with each track roller assembly line using at least 6 people in a single shift. The customer implemented a two-shift system, with at least 12 people manually moving parts, and a large number of pneumatic components were used, combined with manual pressing, knocking and other processes.

[0003] The existing technology for transporting the supporting wheels of large excavators is still based on the assistance of small cantilever cranes. The slings are manually tied from the material frame to transport two supporting wheels at a time. Since the longest distance of the large excavator body can reach 3200mm, personnel need to transport them back and forth, which is extremely labor-intensive. There is a safety risk of "hitting hands" during the lowering process of the supporting wheels. Due to manual placement, the alignment accuracy of the product threaded holes cannot be guaranteed. A crowbar is used for secondary correction of the hole position, with a correction probability of 100% and a positioning accuracy of ±40mm.

[0004] At present, the rear roller tightening work is done manually by driving the tightening gun through the power assist device. Since the maximum tightening torque of the roller is 418N, part of the force is transmitted to the human body. The average number of tightenings per time is 72 times, which is labor-intensive. The torque measuring device is required for secondary testing to fully tighten the roller. A single torque measuring device weighs 30kg, which is completely ergonomic.

[0005] Therefore, how to conveniently, efficiently, automatically and accurately adapt to the handling and assembly of large excavators is a problem faced by technical personnel in this field. Utility Model Content

[0006] The utility model aims to provide a track wheel feeding device with a visual recognition function.

[0007] The utility model aims to solve the problems existing in the prior art.

[0008] Compared with the prior art, the technical solution of the utility model and its beneficial effects are as follows:

[0009] A supporting wheel feeding device with a visual recognition function comprises: a support frame; a first linear moving module, the first linear moving module is horizontally installed on the support frame; a second linear moving module, the second linear moving module is horizontally installed on the output end of the first linear moving module, and the second linear moving module and the first linear moving module are perpendicular to each other; a third linear moving module, the third linear moving module is vertically installed on the output end of the second linear moving module, and the third linear moving module and the second linear moving module are perpendicular to each other; a clamping module, the clamping module is installed at the output end of the third linear moving module; a visual recognition module, The visual recognition module is installed at the output end of the third linear motion module; a shelf, on which supporting rollers are placed; wherein, the first linear motion module drives the second linear motion module to move in the horizontal direction, the second linear motion module drives the third linear motion module to move in the horizontal direction, and the third linear motion module drives the clamping module and the visual recognition module to move in the vertical direction; the visual recognition module assists the clamping module to clamp the target supporting roller by identifying the supporting rollers on the shelf; the visual recognition module assists the clamping module to place the target supporting roller on the walking frame by identifying the installation status of the supporting rollers on the walking frame.

[0010] As a further improvement, the clamping module includes: a connecting plate, which is installed on the output end of the third linear motion module; a cylinder, which is installed on the connecting plate; a slide rail, which is installed on the connecting plate; a slider, which slides in cooperation with the slide rail; a clamp, which is installed on the output end of the cylinder and installed on the slider, and the number of the clamps is 2, and the 2 clamps form a clamp; a connecting rod, the two ends of the connecting rod are respectively movably hinged on the clamps at corresponding positions, and the center point of the connecting rod is rotatably connected to the connecting plate; wherein, the cylinder drives the clamp to move, and through the action of the connecting rod, the clamps approach or move away from each other, so that the clamp can clamp or release the supporting wheel.

[0011] As a further improvement, the visual recognition module includes a camera, and the camera is used to perform visual recognition processing on the situation within the moving range of the clamping module.

[0012] The beneficial effects of the utility model are:

[0013] A combination of a support frame, a first linear motion module, a second linear motion module, a third linear motion module, a clamping module, a visual recognition module and a shelf is adopted, wherein the first linear motion module drives the second linear motion module to move in the horizontal direction, the second linear motion module drives the third linear motion module to move in the horizontal direction, and the third linear motion module drives the clamping module and the visual recognition module to move in the vertical direction; the visual recognition module assists the clamping module to clamp the target rollers by identifying the rollers on the shelf; the visual recognition module assists the clamping module to place the target rollers on the walking frame by identifying the installation status of the rollers on the walking frame.

[0014] The utility model realizes the automatic processing of loading the supporting wheels onto the traveling frame, which not only has high loading efficiency but also improves the accuracy of loading position judgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The utility model is a schematic structural diagram of an excavator track wheel assembly workstation provided by an embodiment of the utility model.

[0016] Figure 2 It is a structural schematic diagram of a track wheel feeding device provided in an embodiment of the utility model.

[0017] Figure 3 It is a schematic diagram of the assembly structure of the clamping module and the visual recognition module provided in an embodiment of the utility model.

[0018] Figure 4 It is a structural schematic diagram of a clamping module provided in an embodiment of the utility model.

[0019] Figure 5 It is a schematic diagram of the assembly structure of the traveling frame and the supporting wheels provided in an embodiment of the utility model.

[0020] Figure 6 It is a structural schematic diagram of a track wheel screw tightening device provided in an embodiment of the utility model.

[0021] Figure 7 It is a partial structural schematic diagram of a track wheel screw tightening device provided in an embodiment of the utility model.

[0022] Figure 8 It is a schematic diagram of the assembly structure of the visual positioning module, the screw tightening module and the fill light module provided in the embodiment of the utility model.

[0023] Fig. 9 It is a structural schematic diagram of a screw tightening module provided in an embodiment of the utility model.

[0024] In the figure:

[0025] A.Roller feeding device B.Roller screw tightening device

[0026] 1. Support frame 2. First linear motion module

[0027] 3. Second linear motion module 4. Third linear motion module

[0028] 5. Clamping module 51. Connecting plate

[0029] 52. Cylinder 53. Slide rail

[0030] 54. Slider 55. Clamp

[0031] 56. Connecting rod 6. Visual recognition module

[0032] 7. Shelves 8. Gantry

[0033] 9. Robotic arm 10. Screw tightening module

[0034] 101. Connecting rod 102. Support plate

[0035] 103. First screw tightening module 104. Spacing adjustment module

[0036] 1041.Guide rail 1042.Moving plate

[0037] 1043. Motor 1044. Transmission mechanism

[0038] 10441. Gear 10442. Rack

[0039] 105. Second screw tightening module 11. Visual positioning module

[0040] 12. Pedal 13. Fill light module

[0041] 14.Traveling frame 15.Roller DETAILED DESCRIPTION

[0042] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Therefore, the following detailed description of the embodiments of the utility model provided in the drawings is not intended to limit the scope of the utility model for which protection is sought, but merely represents the selected embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0043] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0044] Reference Figures 1 to 9 As shown, an excavator supporting wheel assembly workstation includes: a supporting wheel feeding device A, including a support frame 1, a first linear moving module 2, a second linear moving module 3, a third linear moving module 4, a clamping module 5, a visual recognition module 6 and a shelf 7; the first linear moving module 2 is horizontally installed on the support frame 1; the second linear moving module 3 is horizontally installed on the output end of the first linear moving module 2, and the second linear moving module 3 and the first linear moving module 2 are perpendicular to each other; the third linear moving module 4 is vertically installed on the output end of the second linear moving module 3 The output end of the third linear moving module 4 is perpendicular to the second linear moving module 3; the clamping module 5 is installed at the output end of the third linear moving module 4; the visual recognition module 6 is installed at the output end of the third linear moving module 4; the shelf 7 is provided with a roller 15; wherein the first linear moving module 2 drives the second linear moving module 3 to move in the horizontal direction, the second linear moving module 3 drives the third linear moving module 4 to move in the horizontal direction, and the third linear moving module 4 drives the clamping module 5 and the visual recognition module 6 to move in the horizontal direction. The identification module 6 moves in the vertical direction; the visual recognition module 6 assists the clamping module 5 to clamp the target supporting wheel 15 by identifying the supporting wheel 15 on the shelf 7; the visual recognition module 6 assists the clamping module 5 to place the target supporting wheel 15 on the walking frame 14 by identifying the installation status of the supporting wheel 15 on the walking frame 14; the supporting wheel screw tightening device B includes a gantry 8, a manipulator 9, a screw tightening module 10 and a visual positioning module 11, the walking frame 14 is located below the gantry 8, the manipulator 9 is installed on the gantry 8, the screw tightening module 10 and the visual positioning module 11, the walking frame 14 is located below the gantry 8, the manipulator 9 is installed on the gantry 8, the screw tightening module 10 and the visual positioning module 11 The module 10 is installed at the output end of the manipulator 9, and the screw tightening module 10 fixes the supporting roller 15 on the traveling frame 14 by tightening the screws; the visual positioning module 11 is installed at the output end of the manipulator 9, and the visual positioning module 11 is used to visually identify the screw hole position of the supporting roller 15 on the traveling frame 14, and assist the screw tightening module 10 to complete the screw locking action; wherein, the supporting roller loading device A places the supporting roller 15 on the traveling frame 14, and then the supporting roller screw tightening device B tightens the fixing screws of the supporting roller 15 on the traveling frame 14.

[0045] The clamping module 5 includes: a connecting plate 51, which is installed at the output end of the third linear motion module 4; a cylinder 52, which is installed on the connecting plate 51; a slide rail 53, which is installed on the connecting plate 51; a slider 54, which is slidably matched with the slide rail 53; a clamp 55, which is installed at the output end of the cylinder 52, and the clamp 55 is installed on the slider 54, the number of the clamps 55 is 2, and the two clamps 55 form a clamp; a connecting rod 56, the two ends of the connecting rod 56 are respectively movably hinged to the clamps 55 at corresponding positions, and the center point of the connecting rod 56 is rotatably connected to the connecting plate 51; wherein, the cylinder 52 drives the clamp 55 to move, and through the action of the connecting rod 56, the clamps 55 are close to or away from each other, so that the clamp can clamp or release the supporting wheel 15.

[0046] The visual recognition module 6 includes a camera, and the camera is used to perform visual recognition processing on the situation within the moving range of the clamping module 5.

[0047] The screw tightening module 10 includes: a connecting rod 101, one end of which is connected to the output end of the manipulator 9; a support plate 102, which is installed on the other end of the connecting rod 101; a first screw tightening module 103, which is installed on the support plate 102, and is used to tighten the fixing screws of the supporting wheels 15 on the walking frame 14; a spacing adjustment module 104, which is installed on the support plate 102; a second screw tightening module 105, which is installed on the spacing adjustment module 104, and is used to tighten the fixing screws of the supporting wheels 15 on the walking frame 14; wherein the spacing adjustment module 104 adjusts the distance between the second screw tightening module 105 and the first screw tightening module 103.

[0048] The spacing adjustment module 104 includes: a guide rail 1041, which is installed on the support plate 102; a movable plate 1042, which is movably matched with the guide rail 1041 through a slider, and the second screw tightening module 105 is installed on the movable plate 1042; a motor 1043, which is installed on the movable plate 1042; a transmission mechanism 1044, one end of the transmission mechanism 1044 is connected to the output end of the motor 1043, and the other end of the transmission mechanism 1044 is connected to the support plate 102; wherein, the motor 1043 drives the movable plate 1042 to make a linear movement relative to the support plate 102 through the transmission mechanism 1044.

[0049] The transmission mechanism 1044 includes: a gear 10441, which is installed at the output end of the motor 1043; a rack 10442, which is installed on the support plate 102, and the gear 10441 cooperates with the rack 10442; wherein, the motor 1043 drives the gear 10441 to rotate, and through the cooperation between the gear 10441 and the rack 10442, the movable plate 1042 moves linearly relative to the support plate 102.

[0050] The track wheel screw tightening device B also includes a pedal 12 , which is installed below the gantry 8 and located on both sides of the traveling frame 14 . The pedal 12 is used for inspecting the traveling frame 14 .

[0051] The track wheel screw tightening device B also includes a fill light module 13 , which is installed at the output end of the manipulator 9 . The fill light module 13 is used to increase the brightness of the field of view of the visual positioning module 11 .

[0052] The above embodiments are only used to explain the technical solution of the utility model rather than to limit it. Those skilled in the art should understand that any modification and equivalent substitution that does not deviate from the spirit and scope of the utility model should fall within the scope of protection of the claims of the utility model.

Claims

1. A roller feeding device with visual recognition function, characterized in that: include: Support frame; A first linear motion module, wherein the first linear motion module is horizontally mounted on the support frame; A second linear motion module, wherein the second linear motion module is horizontally mounted on an output end of the first linear motion module, and the second linear motion module and the first linear motion module are perpendicular to each other; A third linear motion module, wherein the third linear motion module is vertically mounted on the output end of the second linear motion module, and the third linear motion module and the second linear motion module are perpendicular to each other; A clamping module, the clamping module is installed at the output end of the third linear motion module; A visual recognition module, wherein the visual recognition module is installed at the output end of the third linear motion module; A shelf, on which rollers are placed; The first linear moving module drives the second linear moving module to move in the horizontal direction, the second linear moving module drives the third linear moving module to move in the horizontal direction, and the third linear moving module drives the clamping module and the visual recognition module to move in the vertical direction; the visual recognition module assists the clamping module to clamp the target roller by identifying the rollers on the shelf; The visual recognition module assists the clamping module in placing the target supporting roller on the walking frame by identifying the installation status of the supporting roller on the walking frame.

2. The supporting wheel feeding device with visual recognition function according to claim 1 is characterized in that: The clamping module comprises: A connecting plate, the connecting plate being mounted on the output end of the third linear motion module; A cylinder, wherein the cylinder is mounted on the connecting plate; A slide rail, the slide rail is mounted on the connecting plate; A slider, the slider is slidably matched with the slide rail; A clamp, the clamp is installed at the output end of the cylinder, the clamp is installed on the slider, the number of the clamp is 2, and the two clamps form a clamping claw; A connecting rod, both ends of which are respectively movably hinged to the clamps at corresponding positions, and a center point of the connecting rod is rotatably connected to the connecting plate; The cylinder drives the clamp to move, and through the action of the connecting rod, the clamps move closer to or farther away from each other, so that the clamping claws clamp or release the supporting roller.

3. The supporting wheel feeding device with visual recognition function according to claim 1, characterized in that: The visual recognition module includes a camera, and the camera is used to perform visual recognition processing on the situation within the moving range of the clamping module.

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