Visual guidance spring clamping device and spring welding equipment

Abstract

The utility model relates to the technical field of spring installation, and discloses a visual guidance spring clamping device and spring welding equipment. In the visual guidance spring clamping device, the CCD module is used for positioning a spring and identifying the position of an elastic sheet hole; the XYZ servo manipulator is used for clamping the spring and moving the spring to the framework; the pressing mechanism is used for pressing and fixing the spring; and the pressing mechanism is provided with an execution element. According to the spring welding equipment, a visual guidance spring clamping device is used for moving a spring and clamping the spring to the position, corresponding to an elastic piece hole, of a framework; the welding manipulator is used for welding. According to the technical scheme, high-precision positioning and clamping can be achieved, the positions of spring pins and elastic piece holes can be accurately recognized through the image positioning technology of the CCD module, accurate spring clamping is ensured by being matched with accurate control of the XYZ servo mechanical arm, the clamping efficiency and the welding quality are greatly improved, and the production cost is reduced. And the spring clamping and welding production efficiency and the product quality are obviously improved.

Description

Technical Field

[0001] This utility model relates to the field of spring installation technology, specifically to a visually guided spring clamping device and a spring welding equipment. Background Technology

[0002] A spring is a mechanical part that operates using elasticity. Made of elastic material, it deforms under external force and returns to its original shape after the force is removed. Springs are generally made of spring steel. There are many types of springs; based on shape, they mainly include helical springs, spiral springs, leaf springs, and irregularly shaped springs. Springs often need to be clamped and fixed to a frame before welding. In current technology, spring clamping is not accurate, and there are instances of incomplete clamping, resulting in welding results that do not meet standards and producing defective products, thus increasing production costs. Utility Model Content

[0003] This invention provides a visually guided spring clamping device and a spring welding equipment to solve the aforementioned technical problem of inaccurate spring clamping in the prior art.

[0004] According to a first aspect of the present invention, one embodiment provides a vision-guided spring clamping device, comprising:

[0005] The CCD module is used to locate the pins of the spring and identify the position of the spring hole through images;

[0006] An XYZ servo manipulator is used to grip the spring and move it to the position on the frame corresponding to the spring hole; and

[0007] A pressing mechanism is used to press down and fix the spring to the frame; the actuator of the pressing mechanism is configured to move along the X-axis and move up and down along the Z-axis.

[0008] Preferably, the XYZ servo robot includes: an X-axis linear module; the X-axis linear module includes:

[0009] The first linear guide is set along the X-axis;

[0010] The first slider is slidably disposed on the first linear guide rail; and

[0011] A first linear drive mechanism is used to drive the first slider to move along the first linear guide rail.

[0012] Preferably, the XYZ servo robot includes: a Y-axis linear module; the Y-axis linear module includes:

[0013] A second linear guide is provided on the first slider, and the second linear guide is arranged along the Y-axis;

[0014] The second slider is slidably disposed on the second linear guide rail; and

[0015] The second linear drive mechanism is used to drive the second slider to move along the second linear guide rail.

[0016] Preferably, the XYZ servo manipulator includes: a welding auxiliary mechanism disposed on the Z-axis; the welding auxiliary mechanism includes:

[0017] The first cylinder of the Z-axis is connected to the second slider, and the actuator of the first cylinder of the Z-axis is provided with a finger clamp driven by a finger cylinder;

[0018] The finger is positioned on the side of the spring clip hole.

[0019] Preferably, the pressing mechanism includes: a spring-loaded limiting clamp; the spring-loaded limiting clamp includes:

[0020] X-axis cylinder; and

[0021] The second cylinder on the Z-axis is located at the actuating end of the X-axis cylinder; the X-axis cylinder is used to drive the second cylinder on the Z-axis to move along the X-axis.

[0022] The second cylinder of the Z-axis is provided with an L-shaped support arm at its actuating end. The second cylinder of the Z-axis is used to drive the support arm to move along the Z-axis and press down the spring.

[0023] Preferably, the support arm is provided with a downward pressure buffer assembly; the downward pressure buffer assembly includes:

[0024] A sliding rod, vertically inserted through the support arm and configured for sliding engagement; and

[0025] A pressure block is located at the lower end of the slide rod;

[0026] A buffer spring is provided between the pressure block and the support arm, and the buffer spring is used to buffer when the pressure block presses down on the spring.

[0027] Preferably, the pressure block is provided with a pressure plate, the pressure plate is arranged longitudinally, and the pressure plate is used to press down the spring from the side in the thickness direction.

[0028] Preferably, the visual guide spring clamping device includes: a Z-axis lifting module and / or a rocker arm positioning pin mechanism;

[0029] The Z-axis linear module includes:

[0030] A third cylinder along the Z-axis is provided at its actuating end, with a connecting plate extending from the first end of the connecting plate above the spring clip hole; and

[0031] An actuator is located at the first end of the connecting plate and extends downward to the side of the spring hole; the third cylinder of the Z-axis is used to drive the actuator to move along the Z-axis;

[0032] The rocker arm positioning pin mechanism is vertically arranged and located on the side of the XYZ servo manipulator; the upper end of the rocker arm positioning pin mechanism is provided with a pin, which is vertically arranged and used to insert into the positioning hole of the rocker arm to position the rocker arm.

[0033] Preferably, the visual guide spring clamping device includes:

[0034] Base plate;

[0035] The CCD module, the XYZ servo robot, the pressing mechanism, the Z-axis lifting module, and the rocker arm positioning pin mechanism are fixedly mounted on the base plate.

[0036] According to a second aspect of the present invention, one embodiment provides a spring welding apparatus, comprising:

[0037] The visual guide spring clamping device described in any of the above is used to move the spring and clamp it to the position on the frame corresponding to the spring hole;

[0038] Welding robot, used for welding.

[0039] The technical solution of this utility model can achieve high-precision positioning and clamping. Through the image positioning technology of the CCD module, the position of the spring pin and the spring hole of the rocker arm can be accurately identified. Combined with the flexible movement and precise control of the XYZ servo robot, the accuracy of spring clamping is ensured, which greatly improves clamping efficiency and welding quality, thereby increasing the yield rate.

[0040] The technical solution of this utility model has multi-functional integration and automation. It integrates multiple functional modules such as image recognition, mechanical clamping, and downward pressure fixing, realizing a fully automated process of spring clamping and welding, reducing manual intervention, and improving production efficiency and automation level; it also has flexibility and adaptability.

[0041] In summary, vision-guided spring clamping devices and spring welding equipment, with their advantages of high precision, automation, flexibility, stability, and modular design, significantly improve the production efficiency and product quality of spring clamping and welding. Attached Figure Description

[0042] Figure 1-3 This is a schematic diagram of the visual guide spring clamping device from different perspectives in one embodiment;

[0043] Figure label:

[0044] 71-XYZ servo robot; 72-pressing mechanism; 73-base plate; 75-Z-axis lifting module; 76-rocker arm positioning pin mechanism; 77-spring; 78-frame; 79-rocker arm;

[0045] 711-X-axis linear module; 712-Y-axis linear module; 713-Welding auxiliary mechanism; 721-X-axis cylinder; 722-Z-axis second cylinder; 723-Support arm; 724-Pressing buffer assembly; 751-Z-axis third cylinder; 752-Connecting plate; 753-Actuator;

[0046] 7111-First linear drive mechanism; 7112-First linear guide rail; 7113-First slider; 7121-Second linear drive mechanism; 7122-Second linear guide rail; 7123-Second slider; 7131-Z-axis first cylinder; 7132-Finger cylinder; 7241-Pressure block; 7242-Slide rod; 7243-Pressure plate. Detailed Implementation

[0047] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0048] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the scope of protection of the present invention.

[0049] It should be noted that the terms "first," "second," etc., used in this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of the utility model described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0050] It should be understood that when an element (such as a layer, film, region, or substrate) is described as being "on" another element, the element may be directly on the other element, or there may be an intermediate element present. Moreover, in this invention, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element, or "connected" to the other element via a third element.

[0051] Example 1

[0052] Please refer to Figure 1-3 This embodiment provides a vision-guided spring clamping device, including: a fixedly mounted CCD module (which may be located on one side of the spring hole, not shown in the figure), an XYZ servo manipulator 71, and a pressing mechanism 72; wherein, the CCD module is used to locate the pins of the spring 77 and identify the position of the spring hole through images, the spring hole is located on a rocker arm 79, and a platform that moves along the Y-axis can be provided on one side of the XYZ servo manipulator 71 to provide support for the rocker arm 79; the XYZ servo manipulator 71 is used to clamp the spring 77 and move it to the position on the frame corresponding to the spring hole, usually clamping the head of the spring 77 pins, and applying a bending action to the head of the spring 77 pins during clamping; the pressing mechanism 72 is used to press down and fix the spring 77 onto the frame 78, the frame 78 being a key component in the liquid level sensor. It serves to support and fix other sensor components. The structural design of the frame 78 enables it to stably support key components such as resistors, sliders, and lever supports, and maintain the relative positions of these components. The actuator of the pressing mechanism 72 is designed to move along the X-axis and move up and down along the Z-axis. The X-axis movement of the actuator ensures that the position of the spring 77 is pressed down, preferably at the end of the spring 77. The Z-axis movement of the actuator presses down the end of the spring 77. When or after the spring 77 is clamped, the rocker arm 79 will also cooperate with the spring 77 to be installed on the frame 78. After that, the robot can weld the frame 78 with the spring 77 clamped. With the cooperation of the CCD module and the XYZ servo robot 71, the clamping of the spring 77 is accurate and the welding effect is better, improving the yield rate.

[0053] like Figure 1 , 2 In one embodiment shown, the XYZ servo manipulator 71 is capable of movement along the X, Y, and Z axes, exhibiting flexible movement and precise path control. The XYZ servo manipulator 71 includes: an X-axis linear module 711 that moves along the X-axis; the X-axis linear module 711 includes: a first linear guide rail 7112; wherein the first linear guide rail 7112 is fixed to a base plate 73 and arranged along the X-axis; a first slider 7113 is slidably disposed on the first linear guide rail 7112; a first linear drive mechanism 7111 is used to drive the first slider 7113 to move along the first linear guide rail 7112. The first linear drive mechanism 7111 can be a ball screw, a synchronous belt drive mechanism, or a linear motor, which are existing technologies. Preferably, the X-axis linear module 711 can be a screw-type orthogonal manipulator.

[0054] like Figure 1 , 2In one embodiment shown, the XYZ servo manipulator 71 includes: a Y-axis linear module 712 that moves along the Y-axis; the Y-axis linear module 712 includes: a second linear guide rail 7122; the second linear guide rail 7122 is disposed on a first slider 7113 and is arranged along the Y-axis, wherein a carrier plate is disposed above the first slider 7113, the carrier plate supports the second linear guide rail 7122, preferably the carrier plate extends along the length direction of the second linear guide rail 7122 to provide sufficient loading space; at this time, the second linear guide rail 7122 is perpendicular to the first linear guide rail 7112; a second slider 7123 is slidably disposed on the second linear guide rail 7122; a second linear drive mechanism 7121 is used to drive the second slider 7123 to move along the second linear guide rail 7122. The second linear drive mechanism 7121 can be a ball screw, a synchronous belt drive mechanism, or a linear motor, which is the prior art. Preferably, the Y-axis linear module 712 can be a screw-type orthogonal manipulator.

[0055] like Figure 1 , 3 In one embodiment shown, the XYZ servo robot 71 includes a welding auxiliary mechanism 713 that moves along the Z-axis. The welding auxiliary mechanism 713 includes a Z-axis first cylinder 7131 connected to a second slider 7123. The second slider 7123 is provided with an L-shaped mounting plate, and the Z-axis first cylinder 7131 is mounted on the first surface of the mounting plate. The actuator of the Z-axis first cylinder 7131 is provided with a finger gripper driven by a finger cylinder 7132. The finger gripper is located on the side of the spring hole and is used to grasp the spring 77.

[0056] The aforementioned XYZ servo robot 71, in cooperation with the X-axis linear module 711 and the Y-axis linear module 712, controls the motion path of the welding auxiliary mechanism 713, and precisely controls the welding auxiliary mechanism 713 to perform the functions of gripping, transferring, and bending the pin head of the spring 77 during the motion.

[0057] like Figure 1 , 2 In one embodiment shown, the pressing mechanism 72 includes a spring-limiting clamp; the spring-limiting clamp includes an X-axis cylinder 721; the X-axis cylinder 721 is fixed to the base plate 73 and located on one side of the XYZ servo manipulator 71; wherein, a Z-axis second cylinder 722 is provided at the actuating end of the X-axis cylinder 721; the X-axis cylinder 721 is used to drive the Z-axis second cylinder 722 to move along the X-axis; in addition, the actuating end of the Z-axis second cylinder 722 is provided with an L-shaped support arm 723, and the Z-axis second cylinder 722 is used to press down the spring 77 while driving the support arm 723 to move along the Z-axis.

[0058] like Figure 1In one embodiment shown, a downward pressure buffer assembly 724 is provided on the support arm 723. The downward pressure buffer assembly 724 includes: a slide rod 7242; the slide rod 7242 is vertically inserted through the support arm 723 and is configured for sliding engagement; a pressure block 7241 is provided at the lower end of the slide rod 7242; a pressure plate 7243 is provided on the pressure block 7241 and is arranged longitudinally, and the pressure plate 7243 is used to press down the spring 77 from the side in the thickness direction. Preferably, the slide rods 7242 are two of equal length and arranged in parallel, and the two slide rods 7242 are arranged in pairs to improve the smoothness of the up and down movement of the pressure block 7241. Preferably, a linear bearing can be provided to cooperate with the slide rods 7242, which can also improve the smoothness of the up and down movement of the pressure block 7241. Preferably, a buffer spring is provided between the pressure block 7241 and the support arm 723, and the buffer spring is used to buffer when the pressure block 7241 presses down on the spring 77.

[0059] like Figure 1 , 2 In one embodiment shown, the visual guide spring clamping device includes: a Z-axis lifting module 75; the Z-axis lifting module 75 is disposed on a Y-axis linear module 712, and is driven to move along the Y-axis by a second slider 7123, wherein the Z-axis lifting module 75 is fixedly mounted on the second plate surface of the mounting plate; further, the Z-axis linear module includes: a Z-axis third cylinder 751 disposed along the Z-axis; the actuating end of the Z-axis third cylinder 751 is provided with a connecting plate 752, the first end of the connecting plate 752 extending above the spring clip hole; the connecting plate 752 is disposed above the welding auxiliary mechanism 713; an actuator 753 is disposed at the first end of the connecting plate 752 and extends downward to the side of the spring clip hole; the Z-axis third cylinder 751 is used to drive the actuator 753 to move along the Z-axis.

[0060] like Figure 2 In one embodiment shown, the vision-guided spring clamping device includes: a rocker arm positioning pin mechanism 76; wherein, the rocker arm positioning pin mechanism 76 is vertically arranged and located on the side of the XYZ servo manipulator 71; the upper end of the rocker arm positioning pin mechanism 76 is provided with a pin, the pin is vertically arranged and located on the side of the spring hole, and the pin is used to insert into the positioning hole of the rocker arm 79 on the frame 78 to accurately position the rocker arm 79.

[0061] like Figure 1-3 In one embodiment shown, the vision-guided spring clamping device includes a base plate 73, which serves as a mounting carrier for various components. Specifically, the CCD module, XYZ servo robot 71, pressing mechanism 72, Z-axis lifting module 75, and rocker arm positioning pin mechanism 76 can all be fixedly mounted on the base plate 73. The base plate 73 serves as a mounting carrier, supporting the vision-guided spring clamping device.

[0062] This utility model's vision-guided spring clamping device achieves high-precision positioning and clamping. Utilizing CCD module image positioning technology, it accurately identifies the positions of the spring 77 pins and spring hole. Combined with the flexible movement and precise control of the XYZ servo robot 71, it ensures accurate clamping of the spring 77, significantly improving clamping efficiency and welding quality, thereby increasing the yield rate. It features multi-functional integration and automation, integrating multiple functional modules such as image recognition, mechanical clamping, pressure fixing, and welding assistance, realizing a fully automated process for spring 77 clamping and welding, reducing manual intervention, and improving production efficiency and automation level. It also possesses flexibility and adaptability; the XYZ servo robot 71 adopts… The linear module design allows for flexible movement along the X, Y, and Z axes, with each module independently controllable. This enables the device to adapt to the clamping requirements of springs 77 of different specifications and types, enhancing its versatility and flexibility. The modular design facilitates maintenance, with tight connections between components that are easy to disassemble. This not only facilitates daily maintenance and troubleshooting but also reduces maintenance costs and time. The pressing mechanism 72 is stable and reliable. Through the coordinated operation of the X-axis cylinder 721 and the Z-axis second cylinder 722, the pressing mechanism 72 achieves stable pressing and fixing of the spring 77. At the same time, the pressing buffer assembly 724 effectively protects the spring 77 from damage, ensuring the smoothness and reliability of the clamping process.

[0063] Example 2

[0064] This embodiment provides a spring welding device, including: a vision-guided spring clamping device according to any one of the embodiments in Example 1. During operation, the CCD module of the vision-guided spring clamping device positions the spring pins and identifies the position of the spring clip hole on the rocker arm using an image; then, an XYZ servo robot clamps the spring and moves it to the position on the frame corresponding to the spring clip hole; next, the rocker arm is clamped, and the pressing mechanism drives the actuator to move along the X-axis to adjust its position and moves up and down along the Z-axis to press and fix the spring; finally, the welding robot welds the frame clamped by the vision-guided spring clamping device.

[0065] The spring welding equipment of this utility model has the same beneficial effects as the above-mentioned visual guide spring clamping device, which will not be described in detail here.

[0066] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A visual guidance spring clamping device, characterized in that, include: The CCD module is used to locate the pins of the spring and identify the position of the spring hole through images; An XYZ servo manipulator is used to grip the spring and move it to the position on the frame corresponding to the spring hole; and A pressing mechanism is used to press down and fix the spring to the frame; the actuator of the pressing mechanism is configured to move along the X-axis and move up and down along the Z-axis.

2. The visual guidance spring clamping device according to claim 1, characterized in that, The XYZ servo robot includes: an X-axis linear module; the X-axis linear module includes: The first linear guide is set along the X-axis; The first slider is slidably disposed on the first linear guide rail; and A first linear drive mechanism is used to drive the first slider to move along the first linear guide rail.

3. The visual guidance spring clamping device according to claim 2, characterized in that, The XYZ servo robot includes: a Y-axis linear module; the Y-axis linear module includes: A second linear guide is provided on the first slider, and the second linear guide is arranged along the Y-axis; The second slider is slidably disposed on the second linear guide rail; and The second linear drive mechanism is used to drive the second slider to move along the second linear guide rail.

4. The visual guidance spring clamping device according to claim 3, characterized in that, The XYZ servo robot includes: a welding auxiliary mechanism located on the Z-axis; the welding auxiliary mechanism includes: The first cylinder of the Z-axis is connected to the second slider, and the actuator of the first cylinder of the Z-axis is provided with a finger clamp driven by a finger cylinder; The finger is positioned on the side of the spring clip hole.

5. The visual guidance spring clamping device according to claim 1, characterized in that, The pressing mechanism includes: a spring-loaded limiting clamp; the spring-loaded limiting clamp includes: X-axis cylinder; and The second cylinder on the Z-axis is located at the actuating end of the X-axis cylinder; the X-axis cylinder is used to drive the second cylinder on the Z-axis to move along the X-axis. The second cylinder of the Z-axis is provided with an L-shaped support arm at its actuating end. The second cylinder of the Z-axis is used to drive the support arm to move along the Z-axis and press down the spring.

6. The visual guidance spring clamping device according to claim 5, characterized in that, The support arm is equipped with a downward pressure buffer assembly; the downward pressure buffer assembly includes: A sliding rod, vertically inserted through the support arm and configured for sliding engagement; and A pressure block is located at the lower end of the slide rod; A buffer spring is provided between the pressure block and the support arm, and the buffer spring is used to buffer when the pressure block presses down on the spring.

7. The visual guidance spring clamping device according to claim 6, characterized in that, The pressure block is provided with a pressure plate, which is arranged longitudinally and is used to press down the spring from the side in the thickness direction.

8. The vision-guided spring clamping device according to any one of claims 1-7, characterized in that, The visual guide spring clamping device includes: a Z-axis lifting module and / or a rocker arm positioning pin mechanism; The Z-axis linear module includes: A third cylinder along the Z-axis is provided at its actuating end, with a connecting plate extending from the first end of the connecting plate above the spring clip hole; and An actuator is located at the first end of the connecting plate and extends downward to the side of the spring hole; the third cylinder of the Z-axis is used to drive the actuator to move along the Z-axis; The rocker arm positioning pin mechanism is vertically arranged and located on the side of the XYZ servo manipulator; the upper end of the rocker arm positioning pin mechanism is provided with a pin, which is vertically arranged and used to insert into the positioning hole of the rocker arm to position the rocker arm.

9. The visual guidance spring clamping device according to claim 8, characterized in that, The visual guidance spring clamping device includes: Base plate; The CCD module, the XYZ servo robot, the pressing mechanism, the Z-axis lifting module, and the rocker arm positioning pin mechanism are fixedly mounted on the base plate.

10. A spring welding device, characterized in that, include: The visual guidance spring clamping device according to any one of claims 1-9 is used to move the spring and clamp it to the position on the frame corresponding to the spring hole; Welding robot, used for welding.

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