Automatic pressing rivet detection equipment based on machine vision

Abstract

The utility model relates to the technical field of riveting detection, and more specifically relates to an automatic pressing rivet detection device based on machine vision, comprising a rotating mechanism provided with a workbench, the workbench is provided with a plurality of support members, and the support members are used for supporting rivets and workpieces to be riveted; the first feeding mechanism is arranged corresponding to the rotating mechanism and is used for placing a to-be-riveted workpiece on the supporting piece; the second feeding mechanism is arranged corresponding to the rotating mechanism and is used for placing rivets on the supporting piece; the first visual inspection mechanism is arranged above the workbench and is used for detecting the position accuracy of the workpiece and the rivet on the supporting piece; the controller is electrically connected with the rotating mechanism and the first visual inspection mechanism; the alarm mechanism is electrically connected with the controller; the riveting mechanism is arranged corresponding to the rotating mechanism; and the discharging mechanism is arranged corresponding to the rotating mechanism. The utility model relates to automatic riveting detection equipment based on machine vision, and aims to solve the problem of low yield of automatic riveting in the prior art.

Description

Technical Field

[0001] The utility model relates to the technical field of riveting detection, and more specifically, to an automatic riveting detection device based on machine vision. Background Art

[0002] Riveting equipment, a new type of riveting equipment developed based on the principles of cold rolling, refers to mechanical equipment that rivets objects together. It features a compact structure, stable performance, and convenient and safe operation. Existing riveting equipment consists of an active end and a pressure end. Before riveting, the workpiece is placed between the active and pressure ends and positioned using a positioning mechanism. The active end pushes the rivet into the workpiece's rivet hole and applies pressure to the pressure end to achieve the riveting connection.

[0003] In the current automated riveting production, untimely feeding of the vibration plate may cause the suction cup workpiece to not be loaded into place, which in turn leads to rivet assembly failure; and the stability of the rivet assembly mechanism cannot be guaranteed in the automated riveting production, there is a certain probability of assembly failure, and there is a problem of low yield rate. Utility Model Content

[0004] The main purpose of the utility model is to provide an automated riveting detection device based on machine vision, aiming to solve the problem of low yield rate of automated riveting in the prior art.

[0005] In order to solve the above technical problems, an automated riveting inspection device based on machine vision is proposed, comprising: a rotating mechanism provided with a workbench, the workbench provided with a plurality of supporting members, the supporting members being used to support rivets and workpieces to be riveted;

[0006] a first loading mechanism, arranged corresponding to the rotating mechanism, for placing the workpiece to be riveted onto the support member;

[0007] a second feeding mechanism, provided corresponding to the rotating mechanism, for placing rivets onto the support member;

[0008] a first visual inspection mechanism, disposed above the workbench, for inspecting the position accuracy of the workpiece and the rivet on the support;

[0009] a controller, electrically connected to the rotating mechanism and the first visual detection mechanism, respectively, for controlling the opening and closing of the rotating mechanism;

[0010] An alarm mechanism, electrically connected to the controller, for alarming;

[0011] A riveting mechanism, arranged corresponding to the rotating mechanism, for riveting the workpiece and the rivet;

[0012] The unloading mechanism is arranged corresponding to the rotating mechanism and is used to pick up the riveted workpiece.

[0013] In any of the above technical solutions, further comprising:

[0014] The conveying mechanism corresponds to the unloading mechanism and is used to drive the workpiece to move;

[0015] The second visual inspection mechanism is arranged on the upper side of the conveying mechanism and is electrically connected to the controller, and is used to detect the riveting degree between the workpiece and the rivet.

[0016] In any of the above technical solutions, further, the first feeding mechanism includes:

[0017] The first moving mechanism is arranged horizontally;

[0018] a first telescopic mechanism, vertically arranged on the first moving mechanism, and the first moving mechanism is used to drive the first telescopic mechanism to move horizontally;

[0019] The first clamping mechanism is arranged on the first telescopic mechanism, and the first telescopic mechanism is used to drive the first clamping mechanism to move up and down, and the first clamping mechanism is used to clamp a workpiece.

[0020] In any of the above technical solutions, further, the second feeding mechanism includes:

[0021] sorting tracks, used to support rivets;

[0022] a vibrating plate, docked with the sorting track, for holding rivets and conveying the rivets one by one to the sorting track;

[0023] a second moving mechanism, arranged horizontally along the first direction;

[0024] a third moving mechanism, arranged horizontally on the second moving mechanism along a second direction, the second moving mechanism being used to drive the third moving mechanism to move, and the first direction and the second direction being arranged perpendicularly;

[0025] a second telescopic mechanism, vertically arranged on the third moving mechanism, and the third moving mechanism is used to drive the second telescopic mechanism to move;

[0026] The second clamping mechanism is provided on the second telescopic mechanism, and the second telescopic mechanism is used to drive the second clamping mechanism to move up and down, and the second clamping mechanism is used to clamp the rivets on the sorting track.

[0027] In any of the above technical solutions, further, the first visual detection mechanism includes:

[0028] A first camera is disposed above the workbench and facing the support member, and is used to capture images;

[0029] A host computer is electrically connected to the first camera and is used to calculate the position accuracy of the workpiece and the rivet based on the image captured by the first camera.

[0030] The beneficial effects are:

[0031] 1. The automated riveting inspection equipment based on machine vision of the present invention drives the workbench to rotate through a rotating mechanism, and multiple support members are arranged on the workbench so that corresponding actions can be performed at different positions through each mechanism, thereby improving the overall riveting and inspection efficiency.

[0032] 2. Through the setting of the first visual inspection mechanism, the accuracy of the workpiece can be inspected after it is placed, and the docking accuracy of the rivet and the workpiece can be inspected after the rivet is placed, so as to timely detect the misalignment and inaccurate docking of the workpiece and improve the yield rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 This is a schematic diagram of the three-dimensional structure of an automated riveting detection device based on machine vision according to an embodiment of the present utility model;

[0035] Figure 2 yes Figure 1 Schematic diagram of the local enlarged structure at A in the middle;

[0036] Figure 3 This is a schematic diagram of the top structure of an automated riveting detection device based on machine vision in an embodiment of the present utility model.

[0037] The following are the descriptions of the reference numerals:

[0038] 1. Rotating mechanism; 101. Workbench; 102. Support member;

[0039] 2. First feeding mechanism; 201. First moving mechanism; 202. First telescopic mechanism; 203. First clamping mechanism;

[0040] 3. Second feeding mechanism; 301. Sorting track; 302. Vibrating plate; 303. Second moving mechanism; 304. Third moving mechanism; 305. Second telescopic mechanism; 306. Second clamping mechanism;

[0041] 4. First visual inspection mechanism; 401. First camera;

[0042] 5. Riveting mechanism;

[0043] 6. Unloading mechanism;

[0044] 7. Conveying mechanism;

[0045] 8. Second visual inspection mechanism. DETAILED DESCRIPTION

[0046] Below, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a portion of the embodiments of the present application, not all of the embodiments of the present application. It should be understood that the present application is not limited to the example embodiments described herein. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0047] It should be noted that, as shown in this application and the claims, unless the context clearly indicates an exception, the words "a," "an," "an," and / or "the" do not refer to the singular and may include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0048] If the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), such directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0049] In this utility model, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0050] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their 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 at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0051] The following embodiments will be used to describe in detail an automated riveting detection device based on machine vision in the present application.

[0052] In this embodiment, if Figures 1 to 3 As shown, the automatic riveting inspection equipment based on machine vision includes: a rotating mechanism 1, provided with a workbench 101, the workbench 101 is provided with a plurality of supporting members 102, and the supporting members 102 are used to support rivets and workpieces to be riveted;

[0053] The first loading mechanism 2 is provided corresponding to the rotating mechanism 1 and is used to place the workpiece to be riveted onto the support member 102;

[0054] The second feeding mechanism 3 is provided corresponding to the rotating mechanism 1 and is used to place rivets on the support member 102;

[0055] The first visual inspection mechanism 4 is provided above the workbench 101 and is used to inspect the position accuracy of the workpiece and the rivet on the support 102;

[0056] A controller (not shown) is electrically connected to the rotating mechanism 1 and the first visual detection mechanism 4, and is used to control the opening and closing of the rotating mechanism 1;

[0057] An alarm mechanism (not shown) is electrically connected to the controller and is used for alarming;

[0058] The riveting mechanism 5 is provided corresponding to the rotating mechanism 1 and is used for riveting the workpiece and the rivet;

[0059] The unloading mechanism 6 is provided corresponding to the rotating mechanism 1 and is used for picking up the riveted workpiece.

[0060] In this technical solution, the rotating mechanism 1 is a reduction motor with a vertically mounted shaft, fixed to the base of the equipment. The worktable 101 is a circular plate, coaxially mounted on the rotating shaft of the rotating mechanism 1. Four support members 102 are block-shaped structures, evenly spaced around the circumference of the top surface of the worktable 101. The support members 102 are provided with protrusions or grooves adapted to the shape of the workpiece, ensuring that the workpiece is placed within a certain area when placed on the support members 102. The subsequent visual inspection uses the deviation between the workpiece and one or more locations on the support members 102 to calculate accuracy. A first loading mechanism 2 is fixed to the front of the rotating mechanism 1 and can place workpieces onto the support member 102 located on the front. A second loading mechanism 3 is fixed to the left side of the optional mechanism and can place rivets onto the support member 102 located on the left. The alarm mechanism (not shown) is a commercially available alarm. A first visual inspection mechanism 4 is fixed to the upper side of the support member 102 when it is on the left side to perform accuracy inspection before and after rivet placement. The riveting mechanism 5 is a riveting machine, fixedly arranged at the rear side of the rotating mechanism 1 and available on the market. The unloading mechanism 6 is similar to the first loading mechanism and is fixedly arranged at the right side of the rotating mechanism 1 to transport the riveted workpiece on the support member 102 on the right side to the right.

[0061] When the first visual inspection mechanism 4 detects that the position accuracy of the workpiece or the docking position accuracy of the rivet and the workpiece does not meet the set value, it sends a signal to the controller, which controls the rotating mechanism 1 to stop rotating according to the signal and controls the alarm mechanism to alarm.

[0062] In this embodiment, it also includes:

[0063] The conveying mechanism 7 corresponds to the unloading mechanism 6 and is used to drive the workpiece to move;

[0064] The second visual inspection mechanism 8 is provided on the upper side of the conveying mechanism 7 and is electrically connected to the controller for inspecting the degree of riveting between the workpiece and the rivet.

[0065] In this technical solution, the conveying mechanism 7 is a belt conveyor, which is horizontally arranged in the left and right directions and is arranged on the right side of the unloading mechanism 6. The second visual inspection mechanism 8 includes a second camera arranged in front of the conveying mechanism 7, a light source arranged in the rear of the conveying mechanism 7, and a processing system.

[0066] The riveted product is placed on conveyor mechanism 7 and transported. A photoelectric sensor switch located on the side of the conveyor belt detects the workpiece, and the processing system acquires the signal and performs image acquisition and processing. It first uses the binary image of the workpiece to determine if there are any missing rivets. It then calculates the distance between the rivet head tooth surface and the workpiece surface. The calculated result determines whether the riveting is complete, or the degree of riveting. If the rivet surface and the side edge of the workpiece are aligned, the product is considered fully riveted. If the height difference between the rivet surface and the side edge of the workpiece is greater than a set threshold, the product is considered incompletely riveted. This ensures that the riveting quality is controlled.

[0067] In this embodiment, the first feeding mechanism 2 includes:

[0068] The first moving mechanism 201 is arranged horizontally;

[0069] The first telescopic mechanism 202 is vertically arranged on the first moving mechanism 201, and the first moving mechanism 201 is used to drive the first telescopic mechanism 202 to move horizontally;

[0070] The first clamping mechanism 203 is provided on the first telescopic mechanism 202 . The first telescopic mechanism 202 is used to drive the first clamping mechanism 203 to move up and down. The first clamping mechanism 203 is used to clamp a workpiece.

[0071] In this technical solution, the first moving mechanism 201 is a screw slider moving mechanism, the first telescopic mechanism 202 is a telescopic cylinder, and the first clamping mechanism 203 is a clamping cylinder. The first moving mechanism 201 is arranged horizontally in front and back, the second telescopic mechanism 305 is vertically fixed to the slider of the first moving mechanism 201, and the first clamping mechanism 203 is fixed to the telescopic portion of the second telescopic mechanism 305. During use, the workpiece is transported to the lower side of the first loading mechanism 2 in a direction close to the rotating mechanism 1 by manual placement or by setting a conveyor line in front of the first loading mechanism 2. After that, the first loading mechanism 2 transfers the workpiece to the support member 102 located at the front side through the cooperation of the first moving mechanism 201, the first telescopic mechanism 202, and the first clamping mechanism 203. The rotation of the rotating mechanism 1 drives the workpiece to switch between the corresponding workstations of each mechanism.

[0072] In this embodiment, the second feeding mechanism 3 includes:

[0073] Sorting track 301 for supporting rivets;

[0074] The vibration plate 302 is connected to the sorting track 301 and is used to hold the rivets and transport them one by one to the sorting track 301;

[0075] The second moving mechanism 303 is arranged horizontally along the first direction;

[0076] The third moving mechanism 304 is horizontally arranged on the second moving mechanism 303 along the second direction, and the second moving mechanism 303 is used to drive the third moving mechanism 304 to move, and the first direction and the second direction are arranged perpendicularly;

[0077] The second telescopic mechanism 305 is vertically arranged on the third moving mechanism 304, and the third moving mechanism 304 is used to drive the second telescopic mechanism 305 to move;

[0078] The second clamping mechanism 306 is provided on the second telescopic mechanism 305 . The second telescopic mechanism 305 is used to drive the second clamping mechanism 306 to move up and down. The second clamping mechanism 306 is used to clamp the rivets on the sorting track 301 .

[0079] In this technical solution, a sorting track 301 is fixed to the exit of a vibrating plate 302. The sorting track 301 is equipped with a chute compatible with the rivet structure. The vibrating plate 302 is commercially available. The second and third moving mechanisms 303 and 304 are screw-slider moving mechanisms, the second telescopic mechanism 305 is a telescopic cylinder, and the second clamping mechanism 306 is a clamping cylinder. The second moving mechanism 303 is horizontally arranged in the left-right direction, and the third moving mechanism 304 is horizontally arranged in the front-back direction. The arrangement of the second and third moving mechanisms 303 and 304 facilitates the placement of rivets in multiple different positions.

[0080] In this embodiment, the first visual detection mechanism 4 includes:

[0081] A first camera 401 is disposed above the workbench 101 and facing the support 102 for capturing images;

[0082] The host computer (not shown) is electrically connected to the first camera 401 and is used to calculate the position accuracy of the workpiece and the rivet based on the image captured by the first camera 401.

[0083] In this technical solution, the first camera 401 is fixed to the upper side of the left support member 102 through a fixing rod. The first camera 401 is set facing directly downward. A light source with a planar opening is provided on the lower side of the first camera 401. The first camera 401 is set in the hollow corresponding to the light source, and a lens is provided on the lower side of the first camera 401.

[0084] The image acquisition signal from the first camera 401 is sent by the host computer (not shown) after monitoring and acquiring the software status. Upon receiving the signal, the first camera 401 captures the current image and transmits it to the host computer for processing. This allows for accurate verification of the workpiece position before the assembly process begins. Image processing is used to calculate the relative position of the workpiece and support 102, and the calculated result determines whether the workpiece has been correctly placed. If the placement is incorrect or the workpiece has not been loaded, the equipment will be shut down and an alarm will be issued. If the workpiece is in the correct position, the host computer will control the motion mechanism to continue the rivet assembly process. After the rivet assembly process is completed, the host computer reads the assembly completion flag and performs a second image acquisition. Rivet detection is performed on the captured image and the rivet positions are output. After the rivet detection results are obtained, the number and position of rivets in the image are compared with the number and position of rivets set for the product to be assembled, and a determination is made as to whether all the positions to be assembled on the product have been riveted. If the assembly detection fails, the equipment will also be shut down and an alarm will be issued. Otherwise, the product press riveting will continue.

[0085] While various embodiments of the present disclosure have been described above, the above descriptions are illustrative, non-exhaustive, and not intended to be limiting of the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or improvements to existing technologies, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. An automated riveting detection device based on machine vision, characterized in that: include: A rotating mechanism (1) is provided with a workbench (101), wherein the workbench (101) is provided with a plurality of supporting members (102), and wherein the supporting members (102) are used to support rivets and workpieces to be riveted; a first loading mechanism (2), arranged corresponding to the rotating mechanism (1), and used for placing a workpiece to be riveted onto the support member (102); a second feeding mechanism (3), arranged corresponding to the rotating mechanism (1), and used for placing rivets on the support member (102); a first visual inspection mechanism (4), disposed above the workbench (101), for inspecting the position accuracy of the workpiece and the rivet on the support (102); a controller, electrically connected to the rotating mechanism (1) and the first visual detection mechanism (4), respectively, and used to control the opening and closing of the rotating mechanism (1); An alarm mechanism, electrically connected to the controller, for alarming; A riveting mechanism (5), arranged corresponding to the rotating mechanism (1), for riveting a workpiece and a rivet; The unloading mechanism (6) is arranged corresponding to the rotating mechanism (1) and is used to pick up the riveted workpiece.

2. The automated riveting detection equipment based on machine vision according to claim 1 is characterized in that: Also includes: A conveying mechanism (7), corresponding to the unloading mechanism (6), is used to drive the workpiece to move; A second visual inspection mechanism (8) is arranged on the upper side of the conveying mechanism (7), is electrically connected to the controller, and is used to detect the riveting degree between the workpiece and the rivet.

3. The automated riveting detection equipment based on machine vision according to claim 1 is characterized in that: The first feeding mechanism (2) comprises: A first moving mechanism (201) is arranged horizontally; a first telescopic mechanism (202) vertically arranged on the first moving mechanism (201), wherein the first moving mechanism (201) is used to drive the first telescopic mechanism (202) to move horizontally; The first clamping mechanism (203) is arranged on the first telescopic mechanism (202), and the first telescopic mechanism (202) is used to drive the first clamping mechanism (203) to move up and down, and the first clamping mechanism (203) is used to clamp a workpiece.

4. The automated riveting detection equipment based on machine vision according to claim 1 is characterized in that: The second feeding mechanism (3) comprises: a sorting track (301) for supporting rivets; a vibration plate (302) docked with the sorting track (301) for holding rivets and conveying the rivets one by one to the sorting track (301); A second moving mechanism (303) is arranged horizontally along the first direction; A third moving mechanism (304) is horizontally arranged on the second moving mechanism (303) along a second direction, the second moving mechanism (303) is used to drive the third moving mechanism (304) to move, and the first direction and the second direction are arranged perpendicularly; A second telescopic mechanism (305) is vertically arranged on the third moving mechanism (304), and the third moving mechanism (304) is used to drive the second telescopic mechanism (305) to move; The second clamping mechanism (306) is arranged on the second telescopic mechanism (305), and the second telescopic mechanism (305) is used to drive the second clamping mechanism (306) to move up and down, and the second clamping mechanism (306) is used to clamp the rivets on the sorting track (301).

5. The automated riveting detection equipment based on machine vision according to claim 1 is characterized in that: The first visual detection mechanism (4) comprises: a first camera (401), disposed above the workbench (101) and facing the support member (102), for capturing images; A host computer is electrically connected to the first camera (401) and is used to calculate the position accuracy of the workpiece and the rivet based on the image captured by the first camera (401).

Images