Visual positioning mechanism, system thereof and ring rolling machine

Abstract

The utility model relates to the field of mechanical design, in particular to a visual positioning mechanism, a system thereof and a ring rolling machine, which comprise a support mechanism, a camera, a signal transmitter and a signal receiver, the camera is arranged on the supporting mechanism, a lens of the camera directly faces the core roller, and the camera can be adjusted on the supporting mechanism; the signal transmitter is arranged on the supporting mechanism; the signal receiver is arranged at a manipulator end, the signal receiver is connected with the display, and the display is arranged at an operation room end of the manipulator. According to the automatic feeding device, an operator can quickly adjust the posture of the manipulator through an image fed back by the visual system during production operation, so that quick feeding is realized, and the phenomenon that a material cracks due to operation delay caused by a visual blind area is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of mechanical design field, in particular a visual positioning mechanism and its system and ring rolling machine. BACKGROUND

[0002] In modern industrial manufacturing field, vertical ring rolling technology is widely used in manufacturing large ring-shaped parts, such as bearing ring, gear ring, etc. as a kind of efficient, precise metal forming process. One of the core links of this process is the feeding process, which directly affects the production capacity and product quality of the entire production line. However, there are a series of technical challenges and limitations in the current vertical ring rolling feeding process, which need to be solved and optimized.

[0003] In the traditional feeding process, the robot plays a crucial role in accurately clamping and positioning the ring blank. After the ring blank is positioned, the operator of the ring rolling machine needs to control the core roller to accurately penetrate into the inner hole of the ring blank to complete the subsequent ring rolling processing step. However, since the robot is usually set on the side of the core roller, the operator's line of sight is almost perpendicular to the axis of the core roller when performing the feeding operation, forming a significant visual blind area. This layout not only increases the difficulty of operation, but also greatly limits the intuitiveness and accuracy of operation.

[0004] More complex is that due to the large volume and compact layout of the ring rolling machine, the operating room cannot be directly set opposite to the core roller, but is forced to be placed opposite to the robot. This design further exacerbates the visual obstruction between the operator and the robot clamping personnel, making it difficult for them to form effective visual communication during collaboration, thereby increasing the uncertainty and error risk in the positioning process.

[0005] To overcome this problem, the current feeding process often relies on additional manual command. That is, one or more workers are needed to conduct real-time command on site, guide the robot to accurately position, and feedback the operation situation to the operating room at any time. This manual-dependent approach, although to some extent alleviates the problem caused by visual blind area, inevitably reduces work efficiency, increases labor cost, and has high safety risk. Because frequent manual intervention not only easily introduces human error, but also may cause mechanical injury and other accidents due to operation failure. SUMMARY

[0006] The utility model discloses a purpose at overcoming the existing technology in vertical ring rolling machine loading exists the visual blind area and leads to the loading time long, and need the assistant personnel's insufficient, provide a kind of visual positioning mechanism and its system and ring rolling machine, and the ring rolling machine of loading visual mechanism can be when operating personnel is carried out production operation the image of quick adjustment of the posture of manipulator by visual system feedback, to realize quick loading, avoid the operation delay caused by visual blind area and lead to the cracking phenomenon of material.

[0007] In order to realize the above-mentioned application purpose, the utility model provides the following technical scheme:

[0008] A kind of visual positioning mechanism, including support mechanism, camera, signal transmitter and signal receiver;

[0009] The camera is arranged on the support mechanism, and the camera lens is directly opposite the core roll, and the camera can be adjusted on the support mechanism;

[0010] The signal transmitter is arranged on the support mechanism;

[0011] The signal receiver is arranged on the operating machine, and the signal receiver is connected to the display, and the display is arranged on the operating room end of the operating machine.

[0012] The camera is arranged on the support mechanism, and the camera lens is directly opposite the core roll, and is used for shooting the relative position of the core roll and the support mechanism, the signal transmitter is arranged on the support mechanism, and the signal receiver is arranged on the support mechanism, and the signal receiver is arranged on the operating machine, and the signal receiver is connected to the display, and the display is arranged on the operating room end of the operating machine. The camera sends the video shot in real time by the signal transmitter, and the signal receiver displays the real-time picture by the display after receiving.

[0013] In the vertical ring rolling loading process, the specific position of the camera shooting core roll is sent by the signal transmitter, and the operator of the ring rolling machine and the manipulator clamping personnel can observe the position of the core roll in real time through the display to complete the manipulator clamping work and the core roll penetrating into the ring blank work. The working efficiency of the visual positioning mechanism is high, the labor cost is reduced, and the safety is high.

[0014] Preferably, it further includes an adjusting bracket, the adjusting bracket is connected with the camera and the support mechanism, and the adjusting bracket is used for adjusting the position of the camera.

[0015] The adjusting bracket is used for connecting the camera and the support mechanism, and the position of the camera can be adjusted through the adjusting bracket, so that the position of the core roll can be better shot.

[0016] Preferably, the adjusting bracket is fixedly connected with the support mechanism, and the adjusting bracket is movably connected with the camera.

[0017] The adjusting support is fixedly connected with the supporting mechanism, but the adjusting support itself can be adjusted to change the angle and position of the camera, and the adjusting support is movably connected with the camera, facilitating maintenance and replacement of the camera.

[0018] A ring rolling machine comprises a core roller, a manipulator and any one of the above visual positioning mechanisms.

[0019] The visual positioning mechanism can capture the specific position of the core roller in real time through the camera, and send the position of the core roller to the signal receiver through the signal transmitter for display on the display. The operator can operate the core roller and the manipulator through the display to complete the feeding work.

[0020] When the ring rolling machine with the visual positioning mechanism is in production, the operator can quickly adjust the posture of the manipulator through the image of the display, thereby realizing quick feeding and avoiding the cracking of materials caused by the delay of operation due to the visual blind area.

[0021] Preferably, the supporting mechanism comprises a fixed supporting mechanism and a movable supporting mechanism, and the movable supporting mechanism can move relative to the fixed supporting mechanism.

[0022] The supporting mechanism comprises a fixed supporting mechanism and a movable supporting mechanism, and the movable supporting mechanism can move relative to the fixed supporting mechanism.

[0023] Preferably, the core roller is arranged on the movable supporting mechanism, the manipulator is arranged on the side rail of the ring rolling machine and can move relative to the ring rolling machine, and the camera is arranged on the fixed supporting mechanism.

[0024] The core roller is arranged on the movable supporting mechanism, the movable mechanism can drive the core roller to move, the manipulator is arranged on the side rail of the ring rolling machine and can move relative to the ring rolling machine to realize feeding of the manipulator, and the camera is arranged on the fixed supporting mechanism.

[0025] Preferably, the system further comprises an industrial computer, and the industrial computer is electrically connected with the manipulator.

[0026] The industrial computer is used for overall control and coordination of the cooperation between various mechanisms to ensure that they can work smoothly together to realize efficient operation of the overall system and realize automatic feeding.

[0027] Preferably, the manipulator comprises a manipulator arm, and the manipulator arm is provided with a telescopic mechanism.

[0028] The telescopic mechanism is used for automatic control of the movement of the manipulator arm.

[0029] Preferably, the telescopic mechanism is a hydraulic machine.

[0030] A visual positioning system comprising any one of the ring rolling machines described above.

[0031] Preferably, the visual positioning system comprises a vision system, a manipulator control system and a workpiece adjusting system, the vision system is connected to the manipulator control system, the manipulator control system is connected to the workpiece adjusting system, the vision system is used to take real-time images of the position of the mandrel and transmit the taken real-time images to the manipulator control system, the manipulator control system sends instructions to the workpiece adjusting system after processing the video information, and the workpiece adjusting system makes corresponding actions to correct the position of the workpiece after receiving the instructions.

[0032] Preferably, the vision system comprises a vision camera and an adjusting support, the manipulator control system comprises a manipulator, a hydraulic motor, a hydraulic station and a manipulator controller, and the workpiece adjusting system comprises a mechanical hand.

[0033] Compared with the prior art, the visual positioning system has the following beneficial effects:

[0034] 1、The visual positioning mechanism can realize quick feeding and avoid material cracking caused by operation delay due to visual blind area. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 It is a positioning structure schematic view of the utility model.

[0036] Figure 2 It is a schematic view of the camera of the utility model.

[0037] Figure 3 It is a schematic view of the camera and the mandrel position relationship of the utility model.

[0038] Figure 4 It is a schematic view of the camera shooting angle of the utility model.

[0039] Markings in the figure:

[0040] 1-supporting mechanism,

[0041] 11-fixed supporting mechanism,

[0042] 12-movable supporting mechanism,

[0043] 2-mandrel,

[0044] 3-camera,

[0045] 31 - adjustment bracket,

[0046] 41 - signal transmitter. DETAILED DESCRIPTION

[0047] In order to more clearly describe the utility model purpose, technical scheme and technical effect advantage of the specific implementation case of the utility model, the following will be combined with the description of the drawings of the utility model to make detailed description to the scheme in the specific embodiment. The specific technical scheme involved in the following specific embodiment is only for clearly and completely describing the innovative technical scheme of the utility model, which is only a part of the specific implementation scheme that can be adopted by the utility model, not all embodiments, and should not be understood as the limitation of the innovative scheme of the utility model. Any scheme adopting the same inventive concept of the utility model should be included in the protection scope of the utility model.

[0048] Secondly, the related description of the drawings in the specific embodiment of the utility model is only for facilitating the understanding of the utility model scheme by the technicians, and part of the details in the drawings is exhibited for facilitating the clear presentation of the technical scheme, and all the technical features in the drawings should not be considered as necessarily included in the specific implementation case, and more, the detail features in the drawings should not be considered as the additional limitation of the innovative technical scheme of the utility model. The components in each embodiment described and exhibited in the drawings can be combined and arranged in different configurations, and these combination and arrangement changes should be considered as a part of all the embodiments of the innovative scheme of the utility model, and should be included in the protection scope of the utility model.

[0049] It should be noted that, in the description of the specific embodiment of the utility model, the expression terms of the direction or position relationship appearing in the description, such as "up", "down", "left", "right", "center", "inner", "outer", etc. are based on the expression of the direction or position relationship shown in the drawings, or the direction or position relationship used when the utility model product / equipment / device is usually placed. These direction or position relationship terms are only for facilitating the description of the utility model scheme or simplifying the description in the specific embodiment, and facilitating the quick understanding of the scheme by the technicians, and are not indicative or suggestive of the specific device / component / element necessarily having a specific direction, or being constructed and operated in a specific position relationship, and therefore should not be understood as the limitation of the utility model.

[0050] In addition, if the terms "horizontal", "vertical", "overhanging", and the like appear in the terms, it does not mean that the corresponding device / component / element is absolutely horizontal or vertical or overhanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", not that the structure must be completely horizontal, but can be slightly inclined. Alternatively, it can be simplified to understand that the corresponding device / component / element is set in a specific direction of "horizontal", "vertical", "overhanging", and the like, and can have an error / bias of ±10% relative to the corresponding direction, more preferably an error / bias of ±8%, more preferably an error / bias of ±6%, more preferably an error / bias of ±5%, more preferably an error / bias of ±4%. As long as the corresponding device / component / element is within the error / bias range, it can still achieve its role in the utility model scheme.

[0051] In addition, the terms "first", "second", "third", and the like appearing in the terms are only used to distinguish the same or similar components, and should not be understood as emphasizing or implying the relative importance of the specific components.

[0052] In addition, in the description of the embodiments of the utility model, "several", "a plurality of", "several" represent at least 2. It can be 3, 4, 5, 6, 7, 8, 9, etc. Any situation, or even more than 9 cases.

[0053] In addition, in the description of the technical scheme of the utility model, unless otherwise specified / limited / limited, the terms "set", "installed", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected, which can be welding, riveting, bolting, screwing, etc. Common connection means in the art. This connection can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the communication between two elements.

[0054] For those skilled in the art, when understanding the description of the embodiments of the utility model, reference can be made to the conventional technical manual in the art, and for the terms mentioned above, reference can be made to the appropriate understanding or adjustment, without creative labor, to deduce the same or similar technical scheme implementation.

[0055] Example 1

[0056] As Figures 1-4As shown in the figure, a ring rolling machine, wherein a visual positioning mechanism is included, which comprises a supporting mechanism 1, a core roller 2, a camera 3, a signal transmitter 41 and an industrial computer, the supporting mechanism 1 includes a fixed supporting mechanism 11 and a movable supporting mechanism 12, the core roller 2 is arranged on the movable supporting mechanism 12, and the movable supporting mechanism 12 can move on the basis of the fixed supporting mechanism 11 to adjust the relative position of the core roller 2.

[0057] The camera is arranged on the fixed supporting mechanism 11, and the camera is the camera 3, the lens of the camera 3 faces the core roller 2, the camera 3 is fixedly connected with the fixed supporting mechanism 11 through an adjusting bracket 31, the camera 3 is detachably connected with the adjusting bracket 31, and the adjusting bracket 31 enables the camera 3 to have an adjusting function of up-down and pitch position.

[0058] The signal transmitter 41 is arranged on the fixed supporting mechanism 11, and the signal transmitter 41 is used for transmitting real-time image data captured by the camera to a signal receiver. The signal receiver is connected with a display, and the display is used for displaying the real-time image received by the signal receiving mechanism to assist an operator to perform loading operation.

[0059] The industrial computer is connected with an operating machine, and a telescopic mechanism is further arranged on a mechanical hand of the operating machine, the industrial computer controls the operating machine and the mechanical hand, and the telescopic mechanism is a hydraulic machine.

[0060] When the movable supporting mechanism 12 is lowered to a starting position, the camera 3 is adjusted to be on the same horizontal line as the core roller 2 (as shown in the figure), and the position of the camera 3 at this time is a final installation position. Video acquisition is performed through the camera 3, and the signal transmission mechanism is used to display the video to a ring rolling machine operator and a mechanical hand operator. The two operators can observe the axial position of the core roller 2 (as shown in the figure) through the display, so that the visual loading function is realized. Figure 3 Figure 4 As shown in the figure), thereby realizing the visual loading function.

[0061] Embodiment 2

[0062] A visual positioning system, comprising a visual system, an operating machine control system and a workpiece adjusting system, the visual system is connected with the operating machine control system, the operating machine control system is connected with the workpiece adjusting system, the visual system is used for capturing the position of the core roller in real time, and transmitting the captured real-time image to the operating machine control system, the operating machine control system sends instructions to the workpiece adjusting system after processing the video information, and the workpiece adjusting system performs corresponding action to correct the position of the workpiece. The visual system comprises a visual camera and an adjusting bracket; the operating machine control system comprises an operating machine, a hydraulic motor, a hydraulic station and an operating machine controller; and the workpiece adjusting system comprises a mechanical hand.

[0063] ​A visual positioning system, through the cooperation of a vision system, an operating machine control system and a workpiece adjustment system, realizes automatic unmanned feeding work, wherein a camera in the vision system shoots the position condition of the material in real time, and transmits visual information to the operating machine control system; the operating machine controller controls the operating machine, a hydraulic motor and a hydraulic station, and finally adjusts the material position through the workpiece adjustment system; after the material position is adjusted, whether the position of the material meets the feeding standard is analyzed through the shooting of the vision system; if yes, feeding is started; if not, correction is continued.

[0064] The above embodiments only describe the basic principles, main features and / or advantages of the present application, and those skilled in the art should understand that the present application is not limited to the above embodiments. The above embodiments and the description in the specification are only the principles or specific cases of the present application. Without departing from the essence of the innovative idea of the present application, the innovative scheme of the present application can have various changes and improvements. These changes and improvements all fall within the scope of the present application.

Claims

1. A visual positioning mechanism, characterized by, The support mechanism (1), the camera (3), the signal transmitter (41) and the signal receiver are included. The camera (3) is arranged on the support mechanism (1), the camera (3) lens is opposite to the core roller (2), the camera (3) can be adjusted on the support mechanism (1); The signal transmitter (41) is arranged on the support mechanism (1); The signal receiver is arranged on the operator end, the signal receiver is connected with the display, and the display is arranged on the operator room end.

2. A visual positioning mechanism according to claim 1, wherein, The adjusting bracket (31) is further included, the adjusting bracket (31) is connected with the camera (3) and the support mechanism (1), and the adjusting bracket (31) is used for adjusting the position of the camera (3).

3. A visual positioning mechanism according to claim 2, wherein, The adjusting bracket (31) is fixedly connected with the support mechanism (1); the adjusting bracket (31) is movably connected with the camera (3).

4. A ring rolling machine characterised in that, The ring rolling machine includes the core roller (2), the operator and the visual positioning mechanism of any one of claims 1-3.

5. A ring rolling machine according to claim 4, wherein The support mechanism (1) includes the fixed support mechanism (11) and the movable support mechanism (12), and the movable support mechanism (12) can move relative to the fixed support mechanism (11).

6. A ring rolling machine according to claim 5, wherein The core roller (2) is arranged on the movable support mechanism (12); the operator is arranged on the side rail of the ring rolling machine, the operator can move relative to the ring rolling machine, and the camera (3) is arranged on the fixed support mechanism (11).

7. A ring rolling machine as claimed in claim 6, wherein The industrial computer is further included, and the industrial computer is electrically connected with the operator.

8. A ring rolling machine as claimed in claim 7, wherein The operator includes the manipulator, and the telescopic mechanism is arranged on the manipulator.

9. The ring rolling machine of claim 8 wherein, The telescopic mechanism is a hydraulic machine.

10. A visual positioning system, characterized by The visual positioning system includes the ring rolling machine of any one of claims 4-9.

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