Research On Automatic Assembly Equipment Of Hydraulic Valve Based On Industrial Robot And Machine Vision

Hydraulic valve is the core control component of hydraulic control system in heavy machinery,which determines the system control method,liquid flow direction and flow pressure.However,due to its many processing procedures and complex processes,it is easy to cause missing,multi-packing,and scrapping in the production process.Therefore,the introduction of automation technology to transform the process will help manufacturers improve production efficiency and yield.At present,most domestic manufacturers still use manual assembly of hydraulic valves,which has disadvantages such as high production time and high work intensity.In view of the above problems,an automatic assembly system for hydraulic valves based on industrial robots and machine vision is designed to realize automatic assembly and detection of hydraulic valves and their assemblies.The main research contents are:(1)Combining the production requirements of hydraulic valves,product quality control indicators and assembly process of assembly parts,the overall system plan is proposed,including hardware system design,control system design,machine vision inspection three modules,and the key technologies of the proposed plan are discussed.;(2)According to the structural characteristics of hydraulic valve fittings,a universal hydraulic valve fittings fitting structure is designed.The parts are loaded by direct vibration and circular vibration,and the cylinder drives the tooling for clamping,pressing,blowing,etc.Operation;according to the requirements of the hydraulic valve blocking function,use the servo motor to drive the tooling to press the corresponding fittings and perform operations such as interference fit and edge sealing;(3)The measurement and control software of the system was developed and designed,and the system software was conveniently built from the human-computer interaction interface,lower computer control,robot control,machine vision detection software,etc.,to achieve stable operation and convenient operation of the system;(4)According to the surface features of the hydraulic valve and its fittings,and referring to the overall layout of the system,a suitable camera,lens,light source and lighting method were designed and selected;according to the cross-sectional characteristics of the secondary pressure limiting valve and proportional valve,the model was identified by template matching.;According to the characteristics of each assembly part,use contour extraction and parameter calculation to analyze and judge the status of the assembly parts.(5)Experiments are carried out to verify the system’s loading and unloading effect of hydraulic valves,model identification,assembly quality of assembly parts,and system assembly efficiency,and different experiments are designed according to the various characteristics of each part.The results show that the accuracy of feeding the valve block is 100%,the accuracy of blanking is 94.4%,the success rate of assembly parts is over 98%,the accuracy rate of recognition is over 97%,and the assembly efficiency varies from 3 to 7 minutes depending on the model.