Door panel puller based on visual recognition

Abstract

This utility model relates to the field of elevator automation production technology, specifically to a door panel riveting device based on vision recognition. It includes a frame, a conveying unit mounted on the frame, and a riveting unit for riveting door panels. The riveting unit includes a first linear module fixedly mounted on both sides of the frame, a second linear module slidably connected to the first linear module via a movable frame, a servo motor slidably connected to the second linear module via a movable base, a ball screw fixedly connected to the drive shaft of the servo motor, and a riveting gun slidably connected to the ball screw via a mounting base. One set of riveting units is provided at each of the two ends of the door panel. In this utility model, by setting two sets of riveting units, riveting operations can be performed simultaneously on both ends of the door panel, resulting in high efficiency.

Description

Technical Field

[0001] This utility model relates to the field of elevator automated production technology, specifically to a door panel rivet device based on visual recognition. Background Technology

[0002] Utility model patent application number 201920703627.1 discloses an automated drilling and rivet-setting device for door panels, comprising: a base, the base having a conveying roller table and a drilling and rivet-setting mechanism; a crossbeam mounting mechanism mounted on the base providing working space for the drilling and rivet-setting mechanism and a pushing mechanism, the pushing mechanism being connected to the drilling and rivet-setting mechanism to provide lateral movement power; a rivet-setting conveying mechanism positioned the rivets in a predetermined shape for orderly conveying to the drilling and rivet-setting mechanism for use; under the control of the control system, the conveying roller table conveys the workpiece door panel to a predetermined drilling position for the drilling and rivet-setting mechanism to drill holes in the workpiece door panel, and then the drilling and rivet-setting mechanism picks up the rivets at the rivet-setting mechanism and moves to the predetermined drilling position to insert the picked-up rivets into the predetermined drilling position, simultaneously performing the rivet-setting operation. This utility model achieves fast and efficient drilling and rivet-setting of door panels through automatic drilling and rivet-setting, realizing safe production and efficient operation.

[0003] Utility model patent application number 202420923250.1 discloses a three-axis riveting machine, comprising a linear module and a guide rail. The linear module is equipped with a slide block, and a module support block is slidably connected to the guide rail. A module fixing plate is fixedly installed on one side of the module support block and the slide block. A linear guide rail is fixedly installed on the module fixing plate, and a connecting seat is provided on the linear guide rail. A component mounting seat is fixedly installed on the connecting seat. The advantages of this utility model are: through the coordinated arrangement of the linear module, guide rail, slide block, module support block, module fixing plate, linear guide rail, connecting seat, component mounting seat, cylinder, height adjustment seat, and vacuum riveting suction cup, the position and height of the vacuum riveting suction cup can be easily adjusted after the parts are placed, allowing the vacuum riveting suction cup to move in the X, Y, and Z axis directions. This avoids manual positioning of the rivets, saving time and effort, and ensuring the quality of the riveting.

[0004] Although the above-mentioned mechanism can automate drilling and rivet pulling, in actual production, it can only drill or pull rivets on one side of the door panel at a time, resulting in low production efficiency.

[0005] Therefore, it is necessary to provide a new technical solution to overcome the above-mentioned defects. Utility Model Content

[0006] The purpose of this invention is to provide a door panel rivet device based on visual recognition that can effectively solve the above-mentioned technical problems.

[0007] To achieve the purpose of this utility model, the following technical solution is adopted: A door panel rivet device based on vision recognition includes a frame, a conveying unit mounted on the frame, and a rivet unit for rivet riveting door panels. The rivet unit includes a first linear module fixedly installed on both sides of the frame, a second linear module slidably connected to the first linear module via a movable frame, a servo motor slidably connected to the second linear module via a movable seat, a ball screw fixedly connected to the drive shaft of the servo motor, and a rivet gun slidably connected to the ball screw via a mounting seat. One set of the rivet unit is provided at each of the two ends of the door panel.

[0008] Furthermore, a linear guide rail is fixedly mounted on the mounting base, a movable block is slidably connected to the linear guide rail, and an industrial camera is fixedly mounted on the movable block.

[0009] Furthermore, a screw is rotatably connected to one end of the linear guide rail, and the moving block is threadedly connected to the screw.

[0010] Furthermore, the frame is also provided with a fixing unit, the fixing unit comprising: A horizontal guide rail is fixedly installed on the frame, a front side wall clamping block at one end of the horizontal guide rail is slidably connected to the front side wall clamping block at one end of the horizontal guide rail via a movable plate, a rear side wall clamping block at the other end of the horizontal guide rail is installed via a fixed plate, and a drive cylinder is fixedly connected to the movable plate via a drive shaft.

[0011] Furthermore, the rear sidewall clamping block is slidably connected to the fixed plate, an L-shaped bracket is installed on the frame, and a telescopic rod is provided between the rear sidewall clamping block and the L-shaped bracket. A cylindrical spring is sleeved on the outside of the telescopic rod, and one end of the cylindrical spring is fixedly abutted against the rear sidewall clamping block.

[0012] Furthermore, the tops of both the front and rear sidewall clamping blocks are rotatably connected to screws, and sliders are slidably connected to the screws, with pressure plates fixedly connected to the sliders.

[0013] Furthermore, the L-shaped bracket has a sliding hole, and racks are installed on both sides of the sliding hole. A spur gear that meshes with the racks is installed on the screw.

[0014] Compared with the prior art, the present invention has the following beneficial effects: This utility model is a door panel riveting device based on visual recognition. By setting two sets of riveting units, it can simultaneously perform riveting operations on both ends of the door panel, which is highly efficient. Attached Figure Description

[0015] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation thereof.

[0016] Figure 1 This is a schematic diagram of the door panel rivet device based on visual recognition according to this utility model.

[0017] Figure 2 This is a schematic diagram of the rivet unit in the vision recognition-based door panel rivet device of this utility model.

[0018] Figure 3 This is a schematic diagram of the rivet gun in the vision recognition-based door panel rivet device of this utility model.

[0019] Figure 4 This is a schematic diagram of the fixing unit of the door panel rivet device based on vision recognition according to this utility model.

[0020] Figure 5 for Figure 4 Enlarged view of section A.

[0021] In the diagram: 1. Frame; 2. Conveyor rollers; 31. Rivet unit; 32. First linear module; 33. Second linear module; 34. Rivet gun; 35. Moving frame; 36. Moving base; 37. Servo motor; 38. Mounting base; 39. Industrial camera; Electric vibratory feeder; Fixed unit; 51. Horizontal guide rail; 52. Moving plate; 53. Drive cylinder; 54. Front side wall clamping block; 55. Rear side wall clamping block; 56. Fixed plate; 57. Telescopic rod; 58. Cylindrical spring; 59. Pressure plate; 6. L-shaped bracket; 7. rack; 8. spur gear; 9. support frame. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments.

[0023] In the description of this utility model, it should be understood that the terms "center," "lateral," "longitudinal," "front," "rear," "left," "right," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this utility model. When a component is referred to as being "fixed to" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time. When a component is considered to be "set on" another component, it can be directly set on the other component or there may be an intermediate component at the same time. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0024] like Figures 1 to 5 As shown, the door panel rivet device based on vision recognition of this utility model includes: The frame 1, the conveying unit mounted on the frame 1, and the rivet unit 3 for rivet riveting the door panel.

[0025] The conveying unit consists of several equally spaced conveying rollers 2. The conveying rollers 2 are rotatably connected to the frame 1 through bearing seats, and a conveying motor is installed at one end of the frame 1. The conveying motor is driven by one of the conveying rollers 2. The several conveying rollers 2 are driven by chain transmission. Thus, a single conveying motor can drive the conveying rollers 2 to rotate synchronously to load or unload the door panel. This is prior art. For details, please refer to the transmission method in the patent application number 2019207036271. It will not be described again here.

[0026] like Figure 2 and Figure 3 As shown, the rivet unit 3 includes a first linear module 31, a second linear module 32, a servo motor, and a rivet gun 33.

[0027] The first linear module 31 is symmetrically arranged on both sides of the frame 1 and fixedly installed on the frame 1. The first linear module 31 is slidably connected to a movable frame 34, and the second linear module 32 is fixedly installed on the movable frame 34. A movable seat 35 is slidably connected to the second linear module 32, and the servo motor is fixedly installed on the movable seat 35. A ball screw is fixedly installed at the end of the drive shaft of the servo motor 36, and the ball screw is rotatably connected to the movable seat 35. A mounting base 37 is slidably connected to the ball screw, and the rivet machine is installed on the mounting base 37.

[0028] The first linear module 31 drives the rivet gun 33 to move along the length direction of the door panel through the second linear module 32. The second linear module 32 drives the rivet gun 33 to move along the width direction of the door panel. The servo motor 36 drives the rivet gun 33 to move vertically through the ball screw. Through the cooperation of the above structures, the position of the rivet gun 33 can be changed efficiently and quickly to realize automated rivet riveting at multiple positions of the door panel. Moreover, the linear module has good motion stability and high precision, which can effectively improve the riveting quality.

[0029] It should be noted that the rivet machine can use the Danboton LD-240T pneumatic rivet gun 33, and an electric vibratory plate 4 is equipped on one side of the frame 1. The electric vibratory plate 4 can be connected to the pneumatic rivet gun 33 through the rivet conveying track or rivet conveying pipe for rivet conveying. Of course, in actual application, the feeding, picking, and riveting of rivets can be automated by setting a PLC control program. This is existing technology. For the specific workflow, please refer to the patent application number 201920703627.1, which will not be elaborated here.

[0030] However, in actual production, both ends of the door panel need to be riveted. Existing riveting mechanisms, such as the one in patent 201920703627.1, can only perform single-sided operation at a time, which is inefficient. Therefore, in this device, the riveting unit 3 is set as two groups, which are respectively set at both ends of the frame 1, so that the two ends of the door panel can be riveted at the same time, which is highly efficient.

[0031] It should be further noted that, since the positions of the rivet holes required for rivet installation vary depending on the model of the door panel, the positions of the rivet holes need to be identified before rivet installation. Therefore, the rivet unit 3 of this device also includes an industrial camera 38, which is fixedly mounted on the movable base 35. The industrial camera 38 can take pictures of the positions of the rivet holes and upload the pictures to the central control system. The central control system analyzes the positions of the rivet holes and controls the first linear module 31, the second linear module 32, and the servo motor to drive the rivet gun 33 to move to the position for rivet installation.

[0032] However, different door panels have varying sizes of rivet holes. To ensure riveting accuracy, precise identification of the rivet holes is necessary. Therefore, in this device, the height of the industrial camera 38 is adjustable. Specifically, a linear guide rail is mounted on the movable base 35, and a movable block is slidably connected to the linear guide rail. The industrial camera 38 is fixedly mounted on the movable block. Simultaneously, a screw 39 is rotatably connected to the top of the linear guide rail, and the movable block is threadedly connected to the screw 39. During use, rotating the screw 39 can drive the movable block to move vertically along the linear guide rail, thereby changing the height of the industrial camera 38 to achieve precise identification of the rivet holes.

[0033] It should be further noted that the riveting process will generate a certain impact force on the door panel. Since the door panel and the conveyor roller 2 are in rolling contact, the friction between them is small. The door panel is prone to slight displacement under force, which will cause the riveting position to shift, resulting in the nail not being able to be driven in or being driven off-center, affecting the normal use of the door panel.

[0034] Therefore, a fixing unit 5 is also provided in this device to clamp and fix the door panel, so as to prevent the door panel from shifting during the riveting process and to ensure the riveting accuracy and quality.

[0035] Specifically, the fixing unit 5 is positioned between the two sets of rivet units 3, such as... Figure 4 and Figure 5 As shown, the fixing unit 5 includes: a horizontal guide rail 51, a moving plate 52, a drive cylinder 53, and a side wall clamping block.

[0036] The horizontal guide rail 51 is fixedly mounted on the frame 1, the movable plate 52 is slidably connected to the horizontal guide rail 51, and the drive cylinder 53 is fixedly mounted on the frame 1, with its drive shaft end fixedly connected to the movable plate 52. The side wall clamps are symmetrically arranged at both ends of the horizontal guide rail 51, including a front side wall clamp 54 and a rear side wall clamp 55. The front side wall clamp 54 is fixedly mounted on the movable plate 52, and the rear side wall clamp 55 is mounted on the horizontal guide rail 51 via a fixing plate 56. The drive cylinder 53 drives the movable plate 52 to move, thereby moving the front side wall clamp 54 and pushing the door panel until the door panel is clamped and fixed by the front side wall clamp 54 and the rear side wall clamp 55.

[0037] The rear sidewall clamping block 55 is slidably connected to the fixing plate 56, and a telescopic rod 57 is provided between the rear sidewall clamping block 55 and the L-shaped bracket 6. A cylindrical spring 58 is sleeved on the outside of the telescopic rod 57. One end of the cylindrical spring 58 is fixedly connected to the rear sidewall clamping block 55, and the other end is fixedly connected to the main body of the telescopic rod 57.

[0038] It should be noted that the horizontal guide rail 51 and the side wall clamps are symmetrically arranged in two sets, located at the two ends of the moving plate 52, which can effectively prevent the position of the door panel from shifting during the process of the front side wall clamps 54 pushing the door panel to move.

[0039] Furthermore, it should be noted that, in order to further improve the fixing stability of the door panel, the fixing unit 5 also includes a pressure plate 59, which is used to cooperate with the conveying roller 2 in the vertical direction to press and fix the door panel.

[0040] Specifically, the tops of the front sidewall clamping block 54 and the rear sidewall clamping block 55 are rotatably connected to screws, and sliders are threaded onto the screws. The pressure plate 59 is fixedly connected to the sliders. A spur gear 8 is installed on the screws, and an L-shaped bracket 6 is installed on the frame 1. A sliding hole is opened on the L-shaped bracket 6, and racks 7 are installed on both sides of the sliding hole. The spur gear 8 meshes with the rack.

[0041] During the movement of the front side wall clamping block 54 and the rear side wall clamping block 55, the circular gear 8 can be driven to rotate, thereby driving the screw to rotate, and then driving the pressure plate 59 to move vertically to press or release the door panel.

[0042] By setting side wall clamps and pressure plates 59, the door panel can be fixed during the rivet connection process, preventing it from shifting under impact.

[0043] Meanwhile, to ensure the stability of the screw 39 during rotation, a support frame is provided at the top of the screw. The screw is rotatably connected to the support frame 9, and the support frame 9 is slidably connected to the L-shaped bracket 6. This provides good support for the screw during rotation and improves its stability.

[0044] Working principle: After the conveying unit conveys the door panel to the predetermined position, the driving cylinder 53 drives the moving plate 52 to move, thereby driving the front side wall clamping block 54 to move and pushing the door panel to move until the door panel is clamped and fixed by the front side wall clamping block 54 and the rear side wall clamping block 55. During the movement of the front side wall clamping block 54 and the rear side wall clamping block 55, the spherical gear 8 can be driven to rotate, thereby driving the screw to rotate, and then driving the pressure plate 59 to move vertically to press the door panel.

[0045] Then, the first linear module 31, the second linear module 32, and the servo motor drive the rivet gun 33 and the industrial camera 38 to move. The industrial camera 38 first takes a picture of the position of the rivet hole and uploads the picture to the central control system. The central control system analyzes the position of the rivet hole and controls the first linear module 31, the second linear module 32, and the servo motor 36 to drive the rivet gun 33 to move to that position to perform the riveting operation.

[0046] All standard parts used in this utility model can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0047] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A visual recognition based door panel puller device, characterized by: It includes a frame, a conveying unit mounted on the frame, and a rivet unit for rivet riveting door panels; The rivet unit includes a first linear module fixedly installed on both sides of the frame, a second linear module slidably connected to the first linear module via a movable frame, a servo motor slidably connected to the second linear module via a movable seat, a ball screw fixedly connected to the drive shaft of the servo motor, and a rivet gun slidably connected to the ball screw via a mounting seat. One set of the rivet unit is provided at each of the two ends of the door panel.

2. The visual recognition based door closer device of claim 1, wherein: A linear guide rail is fixedly mounted on the mounting base, a movable block is slidably connected to the linear guide rail, and an industrial camera is fixedly mounted on the movable block.

3. The visual recognition based door closer device of claim 2, wherein: One end of the linear guide is rotatably connected to a screw, and the moving block is threadedly connected to the screw.

4. The visual recognition based door closer device of claim 1 or 3, wherein: The frame is also provided with a fixing unit, which includes: A horizontal guide rail is fixedly installed on the frame, a front side wall clamping block at one end of the horizontal guide rail is slidably connected to the front side wall clamping block at one end of the horizontal guide rail via a movable plate, a rear side wall clamping block at the other end of the horizontal guide rail is installed via a fixed plate, and a drive cylinder is fixedly connected to the movable plate via a drive shaft.

5. The visual recognition based door stopper device of claim 4, wherein: The rear sidewall clamp is slidably connected to the fixed plate. An L-shaped bracket is installed on the frame, and a telescopic rod is provided between the rear sidewall clamp and the L-shaped bracket. A cylindrical spring is sleeved on the outside of the telescopic rod, and one end of the cylindrical spring is fixedly abutted against the rear sidewall clamp.

6. The visual recognition based door stopper device of claim 5, wherein: The top of both the front and rear sidewall clamps is rotatably connected to a screw, and a slider is threaded onto the screw. The slider is fixedly connected to a pressure plate.

7. The visual recognition based door closer device of claim 6, wherein: The L-shaped bracket has a sliding hole, and racks are installed on both sides of the sliding hole. A spur gear that meshes with the racks is installed on the screw.

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