基于工业机器人和机器视觉的液压阀钢珠自动压装设备研究

Research on automatic equipment of hydraulic valve steel ball mountingbased on industrial robots and machine vision

目的:研制一种用于液压阀钢珠压装的自动化设备。方法:通过手眼结合方式实现液压阀块的准确上料,用机器视觉来识别液压阀块钢珠压装表面的不同类型,利用机器人与二轴滑台协同工作填入钢珠,识别钢珠填入效果,并启动伺服压机完成钢珠压装,最后通过机器人完成对阀块的下料动作。结果:提出了一种结合机器人和机器视觉的液压阀块钢珠压装方法,实现了液压阀块全自动上下料及钢珠压装动作。结论:设备有效提高了液压阀的钢珠的压装效率,保证了液压阀块的生产质量;对于某型号在5个表面上分布有10个钢珠压装孔的阀块,压装耗时在4 min左右。

Aims:This paper aims to develop an automatic equipment for hydraulic valve steel ball mounting.Methods:A hydraulic valve block steel ball mounting method combined with machine vision and robot was proposed.The hydraulic valve block was accurately loaded by hand-eye combination.The different types of steel ball mounting surface of hydraulic valve blocks were identified by machine vision.The steel balls were filled in by the cooperation of robot and two-axis sliding tables.Results:Automatic loading and unloading of hydraulic valve blocks and steel ball mounting were realized.Conclusions:The equipment effectively improves the mounting process efficiency of the steel ball of the hydraulic valve and ensures production quality.For a certain type of valve blocks with 10 steel ball holes distributed on 5 surfaces,the mounting takes about 4 min.