Brake drum assembly line based on visual positioning

Abstract

The brake drum assembly line comprises a first conveying line and a second conveying line, the tail ends of the first conveying line and the second conveying line are perpendicular to each other, the bottom of a station at the tail end of the first conveying line is fixedly connected with a servo rotating mechanism, and the top of the station at the tail end of the first conveying line is fixedly connected with a servo jacking mechanism. The servo jacking mechanism is in contact with the bottom of the brake drum; a camera fixing frame is arranged between the tail end of the first conveying line and the second conveying line, and a first 2D camera is installed on the camera fixing frame. A clamping assembly robot is installed on the other side, opposite to the tail end station of the first conveying line, of the second conveying line, a grabbing clamp is arranged at the end of the clamping assembly robot, and a second 2D camera is arranged above the grabbing clamp; the servo rotating mechanism, the servo jacking mechanism, the first 2D camera and the second 2D camera are all connected with the industrial personal computer.

Description

Technical Field

[0001] This utility model belongs to the field of commercial vehicle axle assembly technology, and relates to a brake drum assembly line based on vision positioning. Background Technology

[0002] With the rapid development of the automobile manufacturing industry and the rise in labor costs, traditional manual assembly methods can no longer meet the needs of efficient production. Manually positioning tooling fixtures is not only time-consuming and labor-intensive, but also has problems such as inaccurate positioning and the risk of danger.

[0003] With the continuous maturation of machine vision technology, the positioning technology of vision-guided robots is being rapidly applied in the field of automated assembly, but there are few applications specifically for assembly lines in the vehicle axle assembly process. In particular, there is a pressing need for guiding and precisely assembling brake drums with poor outer diameter consistency. Utility Model Content

[0004] The purpose of this invention is to provide a brake drum assembly line based on vision positioning, which solves the problem of accurately assembling brake drums with counterweights or irregular outer diameters to wheel hubs in the prior art.

[0005] The technical solution adopted in this utility model is as follows: a brake drum assembly line based on vision positioning, including a first conveyor line and a second conveyor line arranged perpendicularly to each other at their ends. A servo rotation mechanism is fixedly connected to the bottom of the end station of the first conveyor line, and a servo lifting mechanism is fixedly connected to the top of the end station of the first conveyor line. The servo lifting mechanism is in contact with the bottom of the brake drum. A camera mounting bracket is arranged between the end of the first conveyor line and the second conveyor line, and a first 2D camera is installed on the camera mounting bracket. A clamping assembly robot is installed on the other side of the second conveyor line opposite to the end station of the first conveyor line. The clamping assembly robot has a gripper at its end, and a second 2D camera is arranged above the gripper. The servo rotation mechanism, the servo lifting mechanism, the first 2D camera, and the second 2D camera are all connected to an industrial control computer.

[0006] Furthermore, the first servo rotation mechanism controls the horizontal rotation angle of the brake drum clamp via a hinge, belt, or lead screw.

[0007] Furthermore, both the No. 1 and No. 2 2D cameras are equipped with light sources.

[0008] Furthermore, when the gripper of the assembly robot grips the brake drum, the second 2D camera is positioned directly above the brake drum. The second 2D camera takes a picture and sends the result back to the industrial control computer to calculate the rotation angle of the brake drum.

[0009] Furthermore, when the captured brake drum is directly above the No. 1 2D camera, the No. 1 2D camera takes a picture and calculates the offset value and offset angle of the brake drum center in the X and Y directions, and feeds it back to the industrial control computer.

[0010] Furthermore, the brake drum gripped by the clamping gripper of the assembly robot is assembled onto the wheel hub at the end of the second conveyor line.

[0011] The beneficial effects of this utility model are:

[0012] 1. Precision assembly: Guided by machine vision, namely, the first and second 2D cameras take pictures and provide feedback on the angle of the brake drum of the industrial control mechanism, the precise positioning and installation of the brake drum is achieved in special cases such as irregular outer circle of the brake drum.

[0013] 2. Improve efficiency and reduce costs: By combining clamping and assembly robots with machine vision technology, rapid and accurate assembly can be achieved, thereby improving production efficiency and corporate benefits while reducing labor costs. Attached Figure Description

[0014] Appendix Figure 1 This is a schematic diagram of the overall structure of the brake drum assembly line based on vision positioning according to this utility model.

[0015] Appendix Figure 2 This is a schematic diagram of the brake drum corner positioning structure of the brake drum assembly line based on vision positioning according to this utility model.

[0016] Appendix Figure 3 This is a schematic diagram of the clamping and assembly robot structure for the brake drum assembly line based on vision positioning according to this utility model.

[0017] Appendix Figure 4 This is a schematic diagram of the secondary photographic positioning structure of the brake drum assembly line based on visual positioning according to this utility model.

[0018] Appendix Figure 5 This is a flowchart illustrating the workflow of the brake drum assembly line based on vision positioning according to this utility model.

[0019] In the diagram, 1. Servo rotation mechanism; 2. Servo lifting mechanism; 3. 2D camera No. 1; 4. Camera mounting bracket; 5. Clamping assembly robot; 6. Gripper; 7. 2D camera No. 2. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0021] like Figures 1-4As shown, a brake drum assembly line based on vision positioning includes a first conveyor line and a second conveyor line arranged perpendicularly to each other at their ends. A servo rotation mechanism 1 is fixedly connected to the bottom of the end station of the first conveyor line, and a servo lifting mechanism 2 is fixedly connected to the top of the end station of the first conveyor line. The servo lifting mechanism 2 contacts the bottom of the brake drum. A camera mounting bracket 4 is arranged between the end of the first conveyor line and the second conveyor line. A first 2D camera 3 is installed on the camera mounting bracket 4, that is, the camera mounting bracket 4 and the first 2D camera 3 form a secondary imaging and positioning structure. A clamping assembly robot 5 is installed on the other side of the second conveyor line opposite to the end station of the first conveyor line. The clamping assembly robot 5 has a gripper 6 at its end, and a second 2D camera 7 is arranged above the gripper 6. The servo rotation mechanism 1, the servo lifting mechanism 2, the first 2D camera 3, and the second 2D camera 7 are all connected to an industrial control computer and are all equipped with a power supply.

[0022] The servo rotation mechanism 1 controls the horizontal rotation angle of the clamp via a hinge, belt, or lead screw. In other words, the servo rotation mechanism 1 and the servo lifting mechanism 2 together form a brake drum rotation positioning structure.

[0023] Both the No. 1 2D camera 3 and the No. 2 2D camera 7 are equipped with light sources.

[0024] When the gripper 6 of the assembly robot 5 grips the brake drum, the second 2D camera 7 is located directly above the brake drum. The second 2D camera 7 takes a picture and sends the result back to the industrial control computer to calculate the rotation angle of the brake drum.

[0025] When the captured brake drum is directly above the No. 1 2D camera 3, the No. 1 2D camera 3 takes a picture and calculates the offset value and offset angle of the brake drum center in the X and Y directions, and feeds it back to the industrial control computer.

[0026] The brake drum gripped by the gripper 6 of the clamping assembly robot 5 is assembled onto the wheel hub at the end of the second conveyor line.

[0027] The working process of this brake drum assembly line is as follows:

[0028] The brake drum enters the end station of the first conveyor line. The servo lifting mechanism 2 contacts the bottom of the brake drum, and the second 2D camera 7, positioned directly above the brake drum, takes a picture of it and sends the result back to the industrial control computer. The result is compared with the template stored in the industrial control computer, and the rotation angle is calculated and assigned. The servo rotation mechanism 1 rotates the brake drum, and after rotation, another picture is taken for comparison to confirm whether the angle matches the template. If they match, the servo lifting mechanism 2 stops working. If they don't match, the second 2D camera 7 takes another picture, and the drum rotates to the matching template with a small deviation angle. Then, the gripper 6 of the clamping assembly robot 5 grips the brake drum. When the gripped brake drum is directly above the first 2D camera 3, the first 2D camera 3 takes a picture and calculates the offset values ​​and offset angles of the brake drum center in the X and Y directions, sending this information back to the industrial control computer. The industrial control computer calculates and assigns these values ​​to the coordinate variables within the clamping assembly robot 5, correcting the placement base point coordinates according to the transmitted values. The clamping assembly robot 5 then assembles the brake drum onto the wheel hub according to the offset points, completing the assembly process.

[0029] The advantages of this brake drum assembly line are:

[0030] 1. Precision assembly: Guided by machine vision, namely, the No. 1 2D camera takes pictures and provides feedback on the angle of the brake drum of the industrial control mechanism, which enables precise positioning and installation in special cases such as irregular outer circle of the brake drum.

[0031] 2. Improve efficiency and reduce costs: By combining clamping and assembly robots with machine vision technology, rapid and accurate assembly can be achieved, thereby improving production efficiency and corporate benefits while reducing labor costs.

Claims

1. A brake drum assembly line based on vision positioning, comprising a first conveyor line and a second conveyor line arranged perpendicularly to each other at their ends, characterized in that, A servo rotation mechanism (1) is fixedly connected to the bottom of the end station of the first conveyor line, and a servo lifting mechanism (2) is fixedly connected to the top of the end station of the first conveyor line. The servo lifting mechanism (2) is in contact with the bottom of the brake drum. A camera mounting bracket (4) is arranged between the end of the first conveyor line and the second conveyor line. A first 2D camera (3) is installed on the camera mounting bracket (4). A clamping assembly robot (5) is installed on the other side of the second conveyor line opposite to the end station of the first conveyor line. The clamping assembly robot (5) has a gripper (6) at its end. A second 2D camera (7) is arranged above the gripper (6). The servo rotation mechanism (1), the servo lifting mechanism (2), the first 2D camera (3), and the second 2D camera (7) are all connected to the industrial control computer.

2. The brake drum assembly line based on vision positioning according to claim 1, characterized in that, The servo rotation mechanism (1) controls the horizontal rotation angle of the brake drum clamp via hinges, belts or lead screws.

3. A brake drum assembly line based on vision positioning according to claim 1, characterized in that, Both the No. 1 2D camera (3) and the No. 2 2D camera (7) are equipped with light sources.

4. A brake drum assembly line based on vision positioning according to claim 1, characterized in that, When the gripper (6) of the assembly robot (5) grips the brake drum, the second 2D camera (7) is located directly above the brake drum. The second 2D camera (7) takes a picture and feeds it back to the industrial control computer to calculate the rotation angle of the brake drum.

5. A brake drum assembly line based on vision positioning according to claim 1, characterized in that, When the captured brake drum is directly above the No. 1 2D camera (3), the No. 1 2D camera (3) takes a picture and calculates the offset value and offset angle of the brake drum center in the X and Y directions, and feeds it back to the industrial control computer.

6. A brake drum assembly line based on vision positioning according to claim 1, characterized in that, The brake drum gripped by the gripper (6) of the clamping assembly robot (5) is assembled onto the wheel hub at the end of the second conveyor line.

Images