An automated gasket installation apparatus based on visual positioning
Patent Information
- Application Number
- CN202521890154.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-03
- Publication Date
- 2026-10-27
- Estimated Expiration
- 2035-09-03
AI Technical Summary
然而，机械手只能按照固定轨迹动作，无法应对零件来料位置、姿态及尺寸的随机偏差，仍需人工二次校正，整体效益提升有限
[0013]进一步的，抓取机构包括移动机构和夹块，夹块有两个且对称设置在移动机构的前端，移动机构控制夹块水平开合运动及上下左右移动，夹块的内部设置有半圆腔，两个夹块上闭合状态下夹块上的半圆腔合并形成容纳腔。在该设计中，移动机构包括上下移动气缸、左右移动气缸和夹块开合控制装置共同组成，各部分协调配合，从而完成机壳的夹取以及转移工作。而夹块在移动过程中预先张开，抵达工位时瞬时闭合夹取机壳，两夹块对称闭合时自动形成容纳腔，无需额外定位装置即可精准夹取机壳。
Smart Images
Figure CN224896378U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of assembly equipment technology, and in particular to an automated gasket installation device based on vision positioning. Background Technology
[0002] In the fields of electronics, automobiles, new energy batteries, and home appliances, gaskets are key components that ensure product sealing, insulation, thermal management performance, and assembly precision. Traditional gasket installation mainly relies on manual or semi-automatic operations. Operators first use jigs or templates to pre-position the gasket, and then use tools to press the gasket into the designated position on the workpiece. This method has several problems, including the significant impact of human factors, jig wear, and individual part differences on manual visual inspection or mechanical template positioning, resulting in a high degree of gasket positional deviation, making it difficult to meet the high precision requirements of products; and the inconsistency in the force and angle applied by different operators, which can easily lead to gasket tilting, wrinkling, omissions, or over-installation, resulting in large fluctuations in finished product yield.
[0003] To overcome these shortcomings, existing technologies attempt to introduce automation. Some solutions use a combination of robotic arms and simple sensors to achieve orderly feeding and gripping of gaskets. However, robotic arms can only move along fixed trajectories and cannot cope with random deviations in the position, posture, and size of incoming parts, still requiring secondary manual correction, resulting in limited improvement in overall efficiency. Utility Model Content
[0004] The technical problem to be solved by this utility model is to provide an automated gasket installation device based on vision positioning. By combining vision positioning technology with automated machinery, a series of operations such as automatic feeding, identification, picking and positioning installation of gaskets for the front housing of gearbox are realized, ensuring that the gaskets can be installed accurately in the predetermined position, while improving the automation level of gasket installation and effectively improving production efficiency.
[0005] To solve the above-mentioned technical problems, the technical solution provided by this utility model is as follows:
[0006] An automated gasket installation device based on vision positioning includes a housing assembly and feeding mechanism, a gasket feeding mechanism, and an assembly mechanism. The assembly mechanism includes an image acquisition unit, a gasket installation mechanism, and a conveying unit. The image acquisition unit is located above the conveying unit. The gasket feeding mechanism includes a first feeding mechanism and a second feeding mechanism. The first feeding mechanism, the second feeding mechanism, and the gasket installation mechanism are fixedly installed on one side of the conveying unit. The housing assembly and feeding mechanism is connected to the conveying unit. The gasket installation mechanism includes a robotic arm and two horizontally arranged picking devices. Each picking device includes a picking head and a lifting assembly. The lifting assembly is installed at the front end of the robotic arm, and the picking head is fixedly connected to the lifting assembly.
[0007] This equipment combines visual positioning technology with automated machinery to automatically feed, identify, pick up, and position the gearbox front housing gaskets. Specifically, the image acquisition unit, located above the conveyor, captures the precise positioning information of the housing in real time. Combined with visual positioning algorithms, it guides the robotic arm and picking device to perform precise operations. This method ensures that the gaskets are accurately installed in the predetermined positions on the housing, greatly reducing installation errors, rework, or product defects caused by positioning deviations, and significantly improving product quality and consistency. Simultaneously, the equipment significantly improves the automation level of gasket installation; the entire process can be completed automatically without human intervention, effectively increasing production efficiency and reducing errors and safety hazards that may arise from manual operation. Furthermore, the dual feeding mechanism and dual picking device work in parallel, simultaneously completing the feeding and installation of different types of gaskets, reducing process waiting time and further shortening the production cycle.
[0008] Furthermore, the first feeding mechanism includes a feeding device and a first conveyor belt. The feeding device includes a pushing device and a storage bin. A discharge port is located below the storage bin. The first conveyor belt is positioned on one side of the discharge port, and the pushing device is positioned on the other side. In this design, workers can pre-store a large number of pads in the storage bin. The pads are pushed from the discharge port onto the adjacent first conveyor belt by the pushing device. The remaining pads then fall naturally to their designated push positions under gravity. This automated feeding method only requires filling the storage bin once to provide a stable and orderly material source for subsequent pushing actions, significantly extending the continuous operating time after a single loading and reducing manual intervention and the frequency of downtime for refueling. The pushing device can be designed as a combination of a cylinder and a pusher plate. The cylinder pushes the pusher plate to push the pads out of the discharge port, thus replacing manual picking and placement and ensuring that the feeding rhythm matches the downstream assembly rhythm.
[0009] Furthermore, the second feeding mechanism includes a vibratory feeder and a second conveyor belt. The vibratory feeder is connected to the second conveyor belt, which is arranged parallel to the first conveyor belt. The vibratory feeder automatically organizes the randomly poured pads and outputs them, ensuring that the pads delivered to the second conveyor belt are all "correctly face up," thus facilitating visual recognition positioning and the robotic arm's identification and picking operations. Simultaneously, the design of the first and second feeding mechanisms employs a dual-channel independent feeding method, allowing for the parallel supply of two different specifications, shapes, or materials of pads, meeting the needs of product assembly that may require the installation of multiple pads. The dual-pickup device on the same robotic arm can conveniently pick up two types of pads alternately or simultaneously on two horizontally adjacent conveyor belts without requiring significant movement or waiting to switch material sources, greatly improving assembly efficiency.
[0010] Furthermore, the housing assembly and feeding mechanism includes a lower impact tooth feeding mechanism, a lower pressure assembly mechanism, and a transport mechanism. The transport mechanism includes an electric turntable and a gripping mechanism. The electric turntable has four processing stations evenly spaced. The lower impact tooth feeding mechanism, lower pressure assembly mechanism, and gripping mechanism are sequentially positioned outside the three adjacent processing stations. In this design, the electric turntable has four equally spaced processing stations, forming a natural circular production line. The four stations sequentially perform the four steps of placing the housing to be assembled, lower impact tooth feeding, lower pressure assembly, and housing gripping and removal. The processes at each station proceed synchronously, simultaneously performing different stages of the process. In this way, the equipment is always processing four housings simultaneously, with each housing completing different processes at different stations. Compared to single-station sequential operation, the production cycle time is shortened, and production capacity is increased.
[0011] Furthermore, the lower impact tooth feeding mechanism includes a feeding tray, a pushing component, and a pressing component. The pushing component has a feeding trough at its front end, and the feeding tray communicates with the feeding trough. The pressing component is installed above the front end of the pushing component. The pushing component consists of a pushing cylinder and a push plate. During the material feeding stage, the lower impact teeth are conveyed to the feeding trough at the front end of the push plate via the feeding tray. When the pushing component applies a thrust, the lower impact teeth are pushed to a position directly below the pressing component. At this time, the pressing component, the lower impact teeth, and the machine housing are on the same axis. Under the action of the pressing component, the lower impact teeth fall from the feeding trough onto the machine housing. This method achieves the goal of rapid and continuous transfer of the lower impact teeth from the bulk storage state to the assembly position, avoiding manual intervention and ensuring that the lower impact teeth arrive at the assembly point in a preset direction and posture, laying the foundation for subsequent pressing assembly.
[0012] Furthermore, the pressing assembly mechanism includes a pressing cylinder and a pressing head. The pressing head is cylindrical and fixedly mounted on the pressing cylinder. When the electric turntable drives the machine housing to the bottom of the pressing assembly mechanism, the pressing cylinder controls the pressing head to move downwards, thereby pressing the impact teeth into the shaft hole of the machine housing, completing the assembly work. This assembly method can match the movement rhythm of the electric turntable, completing the pressing during the intervals of station pauses. The time consumed for a single process is extremely short, supporting high output capacity of the entire machine.
[0013] Furthermore, the gripping mechanism includes a moving mechanism and clamping blocks. Two clamping blocks are symmetrically positioned at the front end of the moving mechanism. The moving mechanism controls the horizontal opening and closing movement of the clamping blocks, as well as their vertical and horizontal movement. Each clamping block has a semi-circular cavity inside; when the two clamping blocks are closed, these semi-circular cavities merge to form a receiving cavity. In this design, the moving mechanism comprises vertical movement cylinders, horizontal movement cylinders, and a clamping block opening and closing control device. These components coordinate to complete the gripping and transfer of the machine casing. The clamping blocks pre-open during movement and instantly close upon reaching the workstation to grip the machine casing. When the two clamping blocks close symmetrically, a receiving cavity is automatically formed, allowing for precise gripping of the machine casing without the need for additional positioning devices.
[0014] In summary, this vision-based automated gasket installation equipment combines vision positioning technology with automated machinery to achieve a series of operations such as automatic feeding, identification, picking, and positioning installation of gearbox front housing gaskets. This ensures that the gaskets can be accurately installed in the predetermined positions, while improving the automation level of gasket installation and effectively increasing production efficiency. Attached Figure Description
[0015] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:
[0016] Figure 1 This is a front view of the present invention;
[0017] Figure 2 This is a schematic diagram of part of the structure of this utility model;
[0018] Figure 3 This is a schematic diagram of the structure of the housing assembly and feeding mechanism of this utility model;
[0019] Figure 4 This is a schematic diagram of the gasket feeding mechanism and gasket mounting mechanism of this utility model;
[0020] Figure 5 for Figure 2 An enlarged view of point A shown;
[0021] Figure 6 for Figure 3 An enlarged view of point B shown;
[0022] Among them: housing assembly feeding mechanism-1, lower impact tooth feeding mechanism-11, feeding plate-111, pushing component-112, feeding trough-1121, pressing component-113, pressing assembly mechanism-12, pressing cylinder-121, pressing head-122, transportation mechanism-13, electric turntable-131, gripping mechanism-132, moving mechanism-1321, clamping block-1322, receiving cavity-1323, gasket feeding mechanism-2, first feeding mechanism-21, first conveyor belt-211, pushing device-212, storage bin-213, discharge port-214, second feeding mechanism-22, vibrating plate-221, second conveyor belt-222, assembly mechanism-3, image acquisition unit-31, gasket installation mechanism-32, robotic arm-321, picking head-322, lifting component-323, conveying unit-33. Detailed Implementation
[0023] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.
[0024] In the description of this utility model, it should be understood that the orientation and positional relationship indicated by terms such as "up", "down", "left", "right", "front", "back", "vertical", "bottom", "inner", and "outer" are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They are not intended to 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 of this utility model.
[0025] like Figures 1 to 6 The illustrated automated gasket installation device based on vision positioning includes a housing assembly and feeding mechanism 1, a gasket feeding mechanism 2, and an assembly mechanism 3. The assembly mechanism 3 includes an image acquisition unit 31, a gasket installation mechanism 32, and a conveying unit 33. The image acquisition unit 31 is located above the conveying unit 33. The gasket feeding mechanism 2 includes a first feeding mechanism 21 and a second feeding mechanism 22. The first feeding mechanism 21, the second feeding mechanism 22, and the gasket installation mechanism 32 are fixedly installed on one side of the conveying unit 33. The housing assembly and feeding mechanism 1 is connected to the conveying unit 33. The gasket installation mechanism 32 includes a robotic arm 321 and two horizontally arranged picking devices (not shown in the figure). The picking device includes a picking head 322 and a lifting assembly 323. The lifting assembly 323 is installed at the front end of the robotic arm 321, and the picking head 322 is fixedly connected to the lifting assembly 323.
[0026] This equipment combines visual positioning technology with automated machinery to automatically feed, identify, pick up, and position the gearbox front housing gaskets. Specifically, the image acquisition unit 31, located above the conveyor unit 33, captures the precise positioning information of the housing in real time. Combined with a visual positioning algorithm, it guides the robotic arm 321 and the picking device to perform precise operations. This method ensures that the gaskets are accurately installed in the predetermined positions on the housing, greatly reducing installation errors, rework, or product defects caused by positioning deviations, and significantly improving product quality and consistency. Simultaneously, this equipment significantly improves the automation level of gasket installation; the entire process can be completed automatically without human intervention, effectively increasing production efficiency and reducing errors and safety hazards that may arise from manual operation. Furthermore, the dual feeding mechanism and dual picking device work in parallel, simultaneously completing the feeding and installation of different types of gaskets, reducing process waiting time and further shortening the production cycle.
[0027] Preferably, the first feeding mechanism 21 includes a feeding device (not shown in the figure) and a first conveyor belt 211. The feeding device includes a pushing device 212 and a storage bin 213. A discharge port (not shown in the figure) is located below the storage bin 213. The first conveyor belt 211 is positioned on one side of the discharge port, and the pushing device 212 is positioned on the other side. In this design, workers can pre-store a large number of pads in the storage bin 213. The pads are pushed from the discharge port onto the adjacent first conveyor belt 211 by the pushing device 212. The remaining pads then fall naturally to their designated positions under gravity, awaiting ejection. This automated feeding method only requires filling the storage bin 213 once to provide a stable and orderly material source for subsequent pushing actions, significantly extending the continuous operating time after a single loading and reducing manual intervention and the frequency of downtime for refueling. The feeding device 212 can be designed as a combination of a cylinder and a pusher plate. The cylinder pushes the pusher plate to push the gasket out of the discharge port, thus replacing manual picking and placement and ensuring that the feeding rhythm matches the downstream assembly rhythm.
[0028] Preferably, the second feeding mechanism 22 includes a vibratory feeder 221 and a second conveyor belt 222, with the vibratory feeder 221 connected to the second conveyor belt 222, which is arranged parallel to the first conveyor belt 211. The vibratory feeder 221 automatically organizes the randomly poured pads and outputs them, ensuring that the pads delivered to the second conveyor belt 222 are all "correctly facing up," thus facilitating visual recognition positioning and the identification and picking work of the robotic arm 321. Simultaneously, the design of the first feeding mechanism 21 and the second feeding mechanism 22 adopts a dual-channel independent feeding method, which can supply two different specifications, shapes, or materials of pads in parallel, meeting the needs of product assembly that may require the installation of multiple pads. The dual-pickup device on the same robotic arm 321 can conveniently pick up two types of pads alternately or simultaneously on two horizontally adjacent conveyor belts without significant movement or waiting to switch material sources, greatly improving assembly efficiency.
[0029] Preferably, the housing assembly and feeding mechanism 1 includes a lower impact tooth feeding mechanism 11, a lower pressure assembly mechanism 12, and a transport mechanism 13. The transport mechanism 13 includes an electric turntable 131 and a gripping mechanism 132. The electric turntable 131 has four processing stations (not shown in the figure) evenly spaced. The lower impact tooth feeding mechanism 11, the lower pressure assembly mechanism 12, and the gripping mechanism 132 are sequentially arranged outside the three connected processing stations. In this design, the electric turntable 131 has four equally spaced processing stations, forming a natural circular production line. The four stations sequentially perform the four steps of placing the housing to be assembled, lower impact tooth feeding, lower pressure assembly, and housing gripping and removal. The processes at each station proceed synchronously, simultaneously performing different stages of the process. In this way, the equipment is always processing four housings simultaneously, with each housing completing different processes at different stations. Compared to single-station sequential operation, the production cycle time is shortened, and production capacity is increased.
[0030] Preferably, the lower impact tooth feeding mechanism 11 includes a feeding plate 111, a pushing member 112, and a pressing member 113. The pushing member 112 has a feeding groove 1121 at its front end, and the feeding plate 111 communicates with the feeding groove 1121. The pressing member 113 is installed above the front end of the pushing member 112. The pushing member 112 consists of a pushing cylinder and a push plate. During the material feeding stage, the lower impact teeth are conveyed via the feeding plate 111 to the feeding groove 1121 at the front end of the push plate. When the pushing member 112 applies a pushing force, the lower impact teeth are pushed to a position directly below the pressing member 113. At this time, the pressing member 113, the lower impact teeth, and the machine housing are on the same axis. Under the action of the pressing member 113, the lower impact teeth fall from the feeding groove 1121 onto the machine housing. This method achieves the goal of rapid and continuous transfer of the lower impact teeth from the bulk storage state to the assembly position, avoiding the occurrence of manual intervention and ensuring that the lower impact teeth arrive at the assembly point in a preset direction and posture, laying the foundation for subsequent pressing assembly.
[0031] Preferably, the pressing assembly mechanism 12 includes a pressing cylinder 121 and a pressing head 122. The pressing head 122 is cylindrical and is fixedly mounted on the pressing cylinder 121. When the electric turntable 131 drives the machine housing to the bottom of the pressing assembly mechanism 12, the pressing cylinder 121 controls the pressing head 122 to move downward, thereby pressing the lower impact teeth into the shaft hole of the machine housing to complete the assembly work. This assembly method can match the movement rhythm of the electric turntable 131, completing the pressing during the intervals of station pauses. The time consumed for a single process is extremely short, which can support the high output capacity of the whole machine.
[0032] Preferably, the gripping mechanism 132 includes a moving mechanism 1321 and clamping blocks 1322. Two clamping blocks 1322 are symmetrically arranged at the front end of the moving mechanism 1321. The moving mechanism 1321 controls the horizontal opening and closing movement and the vertical and horizontal movement of the clamping blocks 1322. Each clamping block 1322 has a semi-circular cavity inside. When the two clamping blocks 1322 are closed, their semi-circular cavities merge to form a receiving cavity 1323. In this design, the moving mechanism 1321 comprises a vertical movement cylinder, a horizontal movement cylinder, and a clamping block opening and closing control device. These components coordinate to complete the gripping and transfer of the machine casing. The clamping blocks 1322 are pre-opened during movement and instantly close upon reaching the workstation to grip the machine casing. When the two clamping blocks 1322 close symmetrically, they automatically form the receiving cavity 1323, allowing for precise gripping of the machine casing without the need for additional positioning devices.
[0033] In summary, this vision-based automated gasket installation equipment combines vision positioning technology with automated machinery to achieve a series of operations such as automatic feeding, identification, picking, and positioning installation of gearbox front housing gaskets. This ensures that the gaskets can be accurately installed in the predetermined positions, while improving the automation level of gasket installation and effectively increasing production efficiency.
[0034] In summary, the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. An automated gasket installation device based on vision positioning, characterized in that: The device includes a housing assembly and feeding mechanism, a gasket feeding mechanism, and an assembly mechanism. The assembly mechanism includes an image acquisition unit, a gasket mounting mechanism, and a conveying unit. The image acquisition unit is located above the conveying unit. The gasket feeding mechanism includes a first feeding mechanism and a second feeding mechanism. The first feeding mechanism, the second feeding mechanism, and the gasket mounting mechanism are fixedly installed on one side of the conveying unit. The housing assembly and feeding mechanism is connected to the conveying unit. The gasket mounting mechanism includes a robotic arm and two horizontally arranged picking devices. Each picking device includes a picking head and a lifting assembly. The lifting assembly is installed at the front end of the robotic arm, and the picking head is fixedly connected to the lifting assembly.
2. The automated gasket installation device based on vision positioning according to claim 1, characterized in that: The first feeding mechanism includes a feeding device and a first conveyor belt. The feeding device includes a pushing device and a storage bin. A discharge port is provided below the storage bin. The first conveyor belt is located on one side of the discharge port, and the pushing device is located on the other side of the discharge port.
3. The automated gasket installation device based on vision positioning according to claim 2, characterized in that: The second feeding mechanism includes a vibratory feeder and a second conveyor belt. The vibratory feeder is connected to the second conveyor belt, and the second conveyor belt is arranged parallel to the first conveyor belt.
4. The automated gasket installation device based on vision positioning according to claim 1, characterized in that: The housing assembly and feeding mechanism includes a lower impact tooth feeding mechanism, a lower pressure assembly mechanism, and a transport mechanism. The transport mechanism includes an electric turntable and a gripping mechanism. The electric turntable has four processing stations evenly spaced. The lower impact tooth feeding mechanism, the lower pressure assembly mechanism, and the gripping mechanism are sequentially arranged on the outside of the three connected processing stations.
5. The automated gasket installation device based on vision positioning according to claim 4, characterized in that: The lower impact tooth feeding mechanism includes a feeding plate, a pushing component, and a pressing component. The front end of the pushing component is provided with a feeding groove, the feeding plate is connected to the feeding groove, and the pressing component is installed above the front end of the pushing component.
6. The automated gasket installation device based on vision positioning according to claim 5, characterized in that: The pressing assembly mechanism includes a pressing cylinder and a pressing head. The pressing head is cylindrical and is fixedly mounted on the pressing cylinder.
7. The automated gasket installation device based on vision positioning according to claim 6, characterized in that: The gripping mechanism includes a moving mechanism and clamping blocks. There are two clamping blocks symmetrically arranged at the front end of the moving mechanism. The moving mechanism controls the horizontal opening and closing movement and the up, down, left and right movement of the clamping blocks. The inside of each clamping block is provided with a semi-circular cavity. When the two clamping blocks are closed, the semi-circular cavities on the clamping blocks merge to form a receiving cavity.