• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
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    • 专利摘要:
    The invention relates to a machine for measuring and sorting rivets (9) comprising: a reservoir (5) for feeding the rivets (9) to be sorted, a plurality of containers (11, 21, 31) for receiving sorted rivets , a device for conveying (6, 7) rivets to be sorted, optical means (13, 14, 23, 24, 33, 34, 50) for acquiring images of each rivet (9) to be sorted, a unit Image processing unit (8) configured to provide at least one measurement of at least one structural feature of each rivet to be sorted, distribution means (15, 25, 35) of each rivet to a receiving tray selected in accordance with at least one measurement of at least one structural feature of this piece provided by said processing unit (8), each receiving tray being associated with a predetermined range of values of at least one structural sorting feature of the rivets.
    公开号:FR3045814A1
    申请号:FR1562882
    申请日:2015-12-18
    公开日:2017-06-23
    发明作者:Antoine Voisin；Arnaud Deleu；Philippe Baron
    申请人:Stelia Aerospace SAS；
    IPC主号:
    专利说明:

    1. Technical Field of the Invention The invention relates to machines for measuring and sorting fasteners such as rivets with countersunk heads, in particular intended for an aeronautical application. 2. Technological background
    There are many standards for identifying fasteners, such as countersunk head rivets, from at least one structural feature of the parts. For example, the standards known by the acronyms ASNA 2019, ASNA 2051 or EN6100 classify the rivets in particular according to the diameter of their head. Thus, in the ASNA 2019 standard, the rivets referenced 40 all have a head whose diameter is between 6.20 mm and 6.78 mm while the rivets referenced 48 all have a head whose diameter is between 7.87 mm and 8.47 mm. As can be seen, according to this standard, in the same reference, the diameters of the heads may have a difference of the order of 0.5 mm.
    However, for some aeronautical applications, a precise misalignment between the rivet head and the skin of the aircraft is to be respected, both to meet aerodynamic constraints and aesthetic constraints. This misalignment can not exceed, for certain applications, 0.13 mm.
    Also, as can be seen, the misalignment tolerance is stricter than the tolerance on the diameter of the rivet heads. It is therefore in practice difficult and very restrictive to respect the constraints of misalignment for all rivets from the same reference class. In particular, during a manual drilling, the operators must carry out milling on the aircraft which are functions of the assembly parts which they have. In other words, they must adapt the bore to the exact dimensions of the assembly part, including its diameter. This makes it necessary to measure the exact dimensions of the assembly part and to adapt the countersinking operation accordingly or else to assemble the parts without worrying about the exact dimensions and then to remove the parts for which it is found after assembly that they do not meet the criteria of misalignment required by the manufacturer. Whatever the solution implemented, it is very time consuming.
    One solution to this technical problem would be to modify the existing standards. However, the technical constraints and specificities of the manufacturers are often one step ahead of the standardization bodies, so that this solution is not only difficult to implement, but above all does not allow to respond quickly to the technical problem encountered.
    The inventors have therefore imagined putting in place a sorting on the parts supplied by the suppliers to separate each reference class of the assembly parts into a plurality of more precise subclasses making it possible to respond directly to the misalignment constraints imposed by the manufacturers. OBJECTS OF THE INVENTION The object of the invention is to provide a machine for measuring and sorting assembly parts, such as rivets with countersunk head. The object of the invention is in particular to provide a machine for measuring and sorting assembly parts which automatically makes it possible to measure and sort the parts as a function of the measurements made. The invention aims in particular to provide, in at least one embodiment, a measuring machine and sorting assembly parts that can measure a plurality of structural characteristics of the parts, and sort the parts as a function of at least one of these measured structural characteristics. The invention also aims to provide, in at least one embodiment of the invention, a measuring machine and sorting assembly parts that allows to remove all parts that do not meet predetermined technical specifications. The invention also aims to provide, in at least one embodiment, a measuring and sorting machine that can measure and sort the parts at a rate of the order of 3 pieces per second. 4. Presentation of the invention
    To this end, the invention relates to a machine for measuring and sorting assembly parts, such as rivets with countersunk heads, each comprising a head and a rod, said machine comprising: a feed tank for the parts to be sorted a plurality of containers for receiving the sorted parts; a device for conveying the parts to be sorted arranged between said feed tank and said receiving bins; optical image acquisition means for each part to be sorted conveyed. by said conveying device, a processing unit of the images acquired by said optical means, said processing unit being configured to provide at least one measurement of at least one structural characteristic of each part to be sorted, each piece to a receiving tray selected from said plurality of trays based on at least one measure of at least one structural feature of that p provided by said processing unit, said sorting structural feature, each receiving tray being associated with a predetermined range of values of at least one structural sorting feature of said assembly parts.
    A machine according to the invention therefore makes it possible to measure each piece to be sorted by determining at least one measurement of at least one structural characteristic of each piece, and of sorting each piece according to this measurement. Each piece is measured by the acquisition of at least one image of this piece and by an analysis of this image by an image processing unit. This image processing unit is configured to determine values of certain structural characteristics of each part. For example, according to one embodiment, the processing unit is configured to provide a measure of the total length of the workpiece and / or a measurement of the diameter of the workpiece head, and / or a measure of ovality. the head of the piece, and / or a measure of the diameter of the piece shank, etc.
    A machine according to the invention further comprises a plurality of sorted material receiving bins, each tray being associated with a predetermined range of value of at least one structural sorting feature of the parts. Thus, for example, the structural feature of sorting is the diameter of the heads of the pieces. The sorting machine can then distribute the parts to be sorted in each receiving tray according to the diameter of the heads of the parts. Thus, according to one embodiment, each tray is associated with a specific range of diameters and distinct from the ranges of the other trays so that all the assembly parts having a measured diameter included in the range of values of a tray are automatically sent to this receiving tray by the distribution means. In this case, the diameter of the head of the parts serves as a structural sorting feature.
    According to the invention, it is therefore possible to sort a plurality of assembly parts received from a supplier under a reference and a given standard and defined by a predetermined range of values of one or more structural characteristics of these parts and refining this reference class by the distribution of the parts of this reference class into a plurality of subclasses each defining a sub-range of the predetermined range of values given by the supplier.
    Thus, for example in the case of the ANSA 2019 standard and for rivet-type joining parts classified under reference 48 according to this standard, all of which, according to this reference class, have heads of diameter between 7.87 mm and 8.47 mm, the invention makes it possible to sort these rivets and to divide them into 5 subclasses for example, each subclass having a maximum dispersion of 0.12 mm. Thus, the sorting machine can distribute the rivets in 5 receiving bins, a tray associated with the range of values 7.87 mm to 7.99 mm, a tray associated with the range of values 7.99 mm to 8.11 mm, a container associated with the range of values 8.11 mm to 8.23 mm, a container associated with the range of values 8.23 mm to 8.35 mm, a container associated with the range of values 8.35 mm at 8.47 mm, plus a specific designated bin serving as a waste bin in which non-compliant parts (diameter less than 7.87 and greater than 8.47) are rejected.
    Of course, the dispersion of each subclass can be parameterized by the machine according to the invention so that it is possible to measure and sort the assembly parts in as many subclasses as necessary according to the specificities of the applications in which these parts of assembly must be used.
    According to the invention, the measurement of the structural characteristics of the assembly parts is performed by optical image acquisition means associated with a processing unit of the images acquired by the optical image acquisition means. This allows a precise, fast and robust measurement of the different structural characteristics of the parts. In addition, this simply allows the measuring means to be adapted to different types of assembly parts by modifying the image processing program implemented by the image processing unit, without nevertheless requiring a structural modification of the image processing unit. the measuring and sorting machine.
    Advantageously, a machine according to the invention comprises gripping means of the parts conveyed by said conveyor, said gripping means being configured to be able to move assembly parts between a position, said gripping position of the parts, in which the parts are on said conveying device, and a position, said shooting position, in which the parts are fixed with respect to said optical image acquisition means.
    According to this variant, the machine comprises gripping means assembly pieces configured to be able to grip the parts on the conveyor and bring them to the optical image acquisition means to perform measurements on the parts to be sorted. This makes it possible to deport the optical image acquisition means of the parts conveying device.
    According to a first variant of the invention, the gripping means are configured to be able to keep the fixed assembly parts facing the optical image acquisition means. According to another variant, the gripping means are configured to be able to bring the rivets to means for holding the assembly parts separate from the gripping means. Such holding means are, for example, formed of a four-jaw flange adapted to hold an assembly part fixed in order to acquire images of this part by the optical image acquisition means.
    Advantageously and according to the invention, the optical image acquisition means comprise: at least one camera, called ovalization camera, configured to be able to acquire a front image of the head of each assembly part; less a camera, called a profile camera, configured to be able to acquire a side image of each assembly part.
    According to this advantageous variant, two types of images are acquired for each assembly part to be measured and sorted, a front image of this part and a profile image of this part so as to be able to determine at the same time structural characteristics. front of this piece as structural profile features of this piece.
    Advantageously and according to the invention, an ovalization camera is arranged in the axis of the rod of a piece to be measured held by said gripping means, facing the head, to be able to acquire a front image of the head of this piece and a profile camera is arranged perpendicular to the axis of the rod of the piece, to be able to acquire a side image of this piece.
    Advantageously, a machine according to the invention comprises a plurality of sorting stations, each sorting station being formed by gripping means, an ovality camera, a profile camera, and means for dispensing parts to said bins. reception.
    A machine according to this variant makes it possible to multiply the number of measurement and sorting by unit of time. According to an advantageous variant, the machine comprises three sorting stations so that the machine can measure and sort three times more parts than a machine having a single sorting station, the measuring cycle time of each station being 1 second .
    Advantageously and according to the invention, the processing unit is configured to be able to provide, for each piece, at least one measurement of at least one structural characteristic of this piece among the following measures - preferably at least one measure of each of the following structural characteristics of this piece -: - a measure of ovalization of the head of this piece from at least one image of this piece acquired by an ovalization camera, - a measure of the size of a possible impact on the head of this piece, from at least one image of this piece acquired by an ovalization camera, - a measurement of the diameter of the head of this piece, from at least one image of this piece acquired by an ovalization camera, - a measure of the perpendicularity between the head and the stem of this piece, from at least one image of this piece acquired by a profile camera, - a measurement of the cone of beating of the head relative to the stem of this piece, from at least one image of this piece acquired by a profile camera, - a measurement of the diameter of the stem of this piece, from at least one image of this piece acquired by a profile camera, - a measurement of the cone angle of the head of this piece, from at least one image of this piece acquired by a profile camera, - a measurement of a reference diameter at a predetermined distance from the head of this part, from at least one image of this piece acquired by a profile camera.
    A machine according to this variant can therefore measure a large number of structural characteristics of the assembly parts to be sorted. Each measured structural feature can form a defining sorting structural feature to which receiving bin the sorted parts are directed.
    Advantageously, a machine according to the invention comprises at least one waste container, to which said dispensing means reject each part of which at least one measurement of at least one structural characteristic provided by said processing unit is not included in a predetermined range of values.
    A sorting machine according to the invention makes it possible to sort the pieces according to at least one sorting structural characteristic. The machine according to this variant also makes it possible to test the other structural characteristics of the parts and to reject the parts of which these structural characteristics, hereinafter referred to as secondary characteristics, are not included in a predetermined range of values. These parts are rejected to a waste bin.
    For example, the machine can be parameterized to sort the parts according to the diameter of the head of the parts so that the receiving bins of the machine receive parts according to the diameter of the heads of the parts. The diameter of the head of the pieces then serves as a structural sorting feature. However, the machine measures other structural features, such as head ovality, cone angle, stem diameter, and so on. These characteristics are the secondary characteristics, which are not used to sort the pieces into a plurality of subclasses but which are nevertheless measured. The machine rejects to a waste bin all the parts whose secondary characteristics do not correspond to predetermined ranges of values. For example, the machine can be set to reject all the parts whose measured ovalization is greater than 0.1 mm and / or all the parts whose cone angle is outside tolerance range 99.5 ° to 100.5 °, etc. Of course, the characteristics tested and the values indicated are given solely by way of example, without limitation.
    Advantageously and according to the invention, the optical means further comprise a camera, called an input camera, arranged at the level of the conveyor, close to the supply tank of the parts to be sorted, this input camera being configured to provide the at least one image, said input image, and said processing unit is configured to be able to provide, from at least one image of each piece acquired by this input camera, a measurement of the total length of the part, a measure of the diameter of the head of this piece, and / or a measurement of the diameter of the rod of this piece.
    According to this variant, each piece is observed by an input camera and analyzed by the processing unit before being conveyed to the measuring and sorting means (formed by the optical image acquisition means, the processing unit and distribution means). This makes it possible to perform a preliminary sorting on the parts to reject all the parts of which certain specific structural characteristics deviate from ranges of predetermined values. The structural characteristics measured upstream of the measuring and sorting means are, for example, the total length of the workpiece, the diameter of the head of the workpiece and the diameter of the shaft of the workpiece.
    Advantageously and according to this variant, said dispensing means are configured to reject any piece of waste material to a waste container, at least one measure provided by said processing unit from an image of said input camera is not included in at least a predetermined range of values.
    According to this variant, each part of which one of the structural characteristics determined by the association of the input camera and the processing unit does not correspond to a predetermined range of values is sent directly to a waste container. This makes it possible to pre-process the parts to be sorted and to discard a certain number of non-compliant parts for the intended application, such as for example the spacing of the intruders if a foreign part is deposited at the entrance of the machine. This also allows to quickly remove all the parts of a possible batch of parts that does not correspond to the reference that one seeks to sort. Note that according to an advantageous variant, a waste bin is associated with the input camera and a waste bin is associated with each sorting station. Thus, the parts judged non-compliant by the input camera are directly rejected to the waste bin associated with the input camera and the parts found to be non-compliant after passing through a sorting station are rejected to a waste bin associated with the sorting station. Having a waste bin specifically associated with the input camera makes it possible, for example, to quickly recover in the same waste bin all the parts of a batch that does not correspond to the reference that is sought. sorting. However, the parts of the reference, not separated by the input camera, but not corresponding to the range of values that are to be separated, will be rejected to the waste bin of the sorting station.
    Advantageously and according to the invention, said assembly parts are countersunk rivets intended for an aeronautical application. The invention also relates to a measuring and sorting machine characterized in combination by all or some of the features mentioned above or below. 5. List of Figures Other objects, features and advantages of the invention will appear on reading the following description given solely by way of non-limiting example and which refers to the appended figures in which: FIG. 1 is a diagrammatic view in FIG. perspective of a measuring and sorting machine according to an embodiment of the invention. FIG. 2 is a schematic perspective view of a part of the machine of FIG. 1 making it possible to better see the optical image acquisition means of an assembly part to be sorted; FIG. schematic view of a rivet that can be sorted by a machine according to the invention, - Figures 4a to 4j are schematic views of the various structural features of a rivet that can be measured by a measuring machine and sorting according to a method of embodiment of the invention. 6. Detailed description of an embodiment of the invention
    In the figure, the scales and the proportions are not strictly respected and this, for purposes of illustration and clarity. Throughout the following detailed description with reference to the figures, unless otherwise indicated, each element of the sorting machine is described as arranged when the sorting machine is in operation. This arrangement is in particular represented in FIG. 1. In addition, identical, similar or similar elements are designated by the same references.
    According to the invention and as shown in FIG. 1, a machine for measuring and sorting assembly parts, such as countersunk head rivets, comprises a tank 5 for feeding the parts to be sorted. Throughout the following detailed description, the parts to be sorted are countersunk countersunk rivets. That being so, the invention also applies to other assembly parts. The condition is that the parts to be sorted comprise a head and a rod connected to the head, the head extending perpendicular to the rod. This tank 5 is supplied with rivets manually by an operator.
    A machine according to the invention also comprises a plurality of trays 11, 21, 31 for receiving the rivets to be sorted.
    The machine according to the invention also comprises a device for conveying the rivets to be sorted arranged between the tank 5 and the receiving bins.
    According to the embodiment of the figures, the conveying device comprises a strip 6 for transporting the rivets. This conveyor belt preferably has a cross-section V-shaped so as to facilitate the centering of the rivets on the conveyor belt. This conveyor belt 6 is for example set in motion by a pinion 7 driven in rotation by an electric motor not shown in the figures.
    According to a preferred embodiment of the invention, the feed tank 5 rivets to be sorted is associated with a vibratory bowl for moving each rivet to the transport strip 6. According to another embodiment, the vibratory bowl can be replaced by two blade hoppers.
    A machine according to the embodiment of Figure 1 also comprises three sorting stations 10, 20, 30. Each sorting station 10, 20, 30 respectively comprises a gripper 12, 22, 32 forming means for gripping the rivets to be sorted, an ovalization camera 13, 23, 33 configured to take a front image of each rivet, a profile camera 14, 24, 34 configured to take a profile image of each rivet, and a funnel 15, 25, 35 forming means for dispensing the rivets to the trays 11, 21, 31 for receiving sorted rivets. In addition, each sort station is associated with a waste bin. These waste bins sorting stations are referenced 1 lr, 21r and 3 lr in Figure 1.
    A machine according to the invention also comprises a unit 8 for processing the images acquired by the cameras. The processing unit is configured to provide measurements of the structural characteristics of the rivets to be sorted. Such a processing unit comprises for example a computer configured to implement one or more modules for processing the images acquired by the cameras. By module is meant a software element, a subset of a software program, which can be compiled separately, either for independent use, or to be assembled with other modules of a program, or a hardware element, or a combination of a hardware element and a software program. Such a hardware element may comprise an application specific integrated circuit (better known by the acronym AS IC for the English designation Application-Specific Integrated Circuit) or a programmable logic circuit (better known by the acronym FPGA for the English name Field -Programmable Array Trolley) or a specialized microprocessor circuit (better known by the acronym DSP for the English name Digital Signal Processor) or any equivalent hardware. In general, a module is an element (software and / or hardware) that ensures a function. In the present case, the function provided by a module of the image processing unit is the measurement of one or more structural characteristics of each rivet imaged by the image acquisition means. The image processing unit 8 can be connected to the cameras by all types of known communication means, for example by wired means such as wired networks and / or by wireless means such as wireless networks of the wireless network. type network WIFI, Bluetooth, etc. In the case of using wired networks, these can indifferently be electrical networks, optical networks, magnetic networks and generally any type of network for transmitting data between an image acquisition camera and a processing unit of these digital images.
    FIG. 2 is a detailed view of a sorting station of the machine according to the embodiment of FIG. 1. The sorting station is described below in connection with the sorting station referenced 10, it being understood that the others Sorting stations referenced 20, 30 preferably have a structure and operation identical to the sorting station referenced 10 described below.
    The sorting station 10 comprises a flange 16 comprising four jaws 16a mounted on a support plate 17. The jaws 16a are configured to be able, on command, to grip a rivet brought between the jaws 16a by the clamp 12. The presence of four jaws 16a regularly distributed allows a good catch and immobilization of each rivet during the acquisition of images. The support plate 17 also carries the camera 14 in profile and the camera 13 ovalization. The flange 16 is intended to receive each rivet to be measured. The clamp 12 forms the means for gripping the rivets between a position, called the rivet gripping position, in which the gripper can grip a rivet on the conveyor belt 6 and a position, called the shooting position, in which the rivet is held in flange 16 with four jaws.
    According to the embodiment of the figures, the clamp 12 is controlled by a moving robot 18. Such a robot 18 is for example a robot known under the trade name Fanuc Ml. This robot is set to move the clamp 12 between the capture position and the shooting position.
    The sorting station 10 also comprises an ovalization camera 13, configured to be able to acquire a front image of the head of each rivet brought into the flange 16, and a profile camera 14 configured to be able to acquire a side image of each rivet brought into the flange 16. The axes of sight of the cameras 13 ovalization and 14 profile are perpendicular.
    For example, the ovalization camera 13 is a 1 / 1.8 inch CMOS type camera with a resolution of 1600x1200. For example, it is associated with a blue LED circular shaving light and a 102mm macro lens. The profile camera 14 is for example a CMOS camera 1 / 1.8 inch, having a resolution of 1600x200 associated with a high-resolution teleCentric lens.
    In FIG. 2, a rivet 9 is engaged in the clamp 12 which is being moved to bring the rivet 9 into the flange 16 so that the image acquisitions by the ovality and profile cameras 13 may have location.
    The sorting station 10 also comprises a funnel 15 for dispensing each rivet to the receiving bins 11. This funnel 15 comprises an upper opening (not visible in the figures) which opens onto the support plate 17 and a free bottom opening arranged in look at the receiving bins 11. This funnel 15 is pivotally mounted relative to the support plate 17 to be able to bring the lower opening facing the receiving tray to which the measured rivet must be delivered taking into account measurements made by the image processing unit 8. Once the measurement is made, the funnel 15 is controlled to be able to move its lower end to the receiving tray designated given the measurement. According to one embodiment, the clamp 12 grasps the rivet 9 in the flange 16 and releases it into the upper opening of the funnel. The rivet then slides into the funnel 15 and comes out to fall into the designated receiving tray taking into account the measurements made. According to another variant, the upper opening of the funnel 15 is formed under the flange 16 so that a release of the jaws 16a of the flange 16 directly causes the rivet to fall into the funnel 15.
    According to the embodiment of the figures, the machine further comprises an input camera 50 arranged at the arrival of the rivets 9 on the conveyor belt 6. The input camera is for example a camera associated with a lens 25mm. This input camera 50 is configured to provide an input image of each rivet transmitted to the processing unit 8. The processing unit 8 is configured to be able to provide a measure of the total length of the rivet, a measure of the diameter of the rivet head, and / or a measure of the diameter of the rivet shank. If any of these measures (whose measurement principle is described below) is non-compliant, the rivet is not gripped by the clamp 12 and is rejected to a waste bin 40 without going through sorting stations.
    The waste bin 40 is arranged at the end of the conveyor. This waste bin 40 is intended to receive the non-compliant rivets 9 detected by the input camera 50. According to the embodiment of the figures, the waste bin 40 is arranged at the end of the conveyor belt 6 so that that if a rivet 9 is considered as non-compliant with respect to the program selected by the processing unit 8, the clamp 12 of the sorting station does not take the rivet on the conveyor belt 6 which will naturally lead the rivet to the waste bin 40. This tray being arranged under the conveyor belt, the non-compliant rivet will fall by gravity into the waste bin 40.
    The machine also comprises a waste bin llr, 21r, 31r associated with each sorting station. These waste bins llr, 21r, 31r are intended to receive the rivets considered as non-compliant, but after passing through the sorting station, that is to say that these bins will receive the rivets for which at least one measure of at least one structural characteristic provided by the processing unit 8 is not within a predetermined range of values.
    An example of a rivet that can be measured and sorted by a machine according to the invention is shown in FIG. 3. This rivet 9 comprises a head 9a and a rod 9b. According to one embodiment of the invention, the processing unit 8 is configured to be able to measure the structural characteristics of a rivet 9 shown schematically in FIGS. 4a to 4i.
    FIG. 4a illustrates a measurement of an average diameter of the head 9a of a rivet 9 from a frontal image of the head acquired by the ovalization camera 13 or from an acquired input image by the camera 50 input. This measurement is made by calculating an average diameter of the head from the measurement of a plurality of diameters of the head. If the diameter does not fall within a predetermined range of values, then the rivet 9 is considered non-compliant and is rejected to the waste bin 40 if it has been detected by the input camera 50 upstream or waste bin 1 lr associated with the sorting station 10 if it was detected by the ovalization camera 13 downstream.
    FIG. 4b illustrates a measurement of the ovalization of the head 9a of a rivet 9 from an image of the face of the head acquired by the ovalization camera 13. This measurement is made by calculating the difference between the maximum diameter measured and the minimum diameter measured. If the difference is greater than a predetermined threshold, then the rivet 9 is considered as non-compliant and is rejected to the waste bin 1 lr of the sorting station 10.
    FIG. 4c illustrates a measurement of an impact on the head 9a of a rivet 9 from a front image of the head acquired by the ovalization camera 13. This measurement is made by measuring the radial dimension i of an impact, that is to say by measuring the radial dimension from a break in continuity of the periphery of the head. If the distance i measured is greater than a predetermined threshold, then the rivet 9 is considered as non-compliant and is rejected to the waste bin 1 lr of the sorting station 10.
    Figure 4d illustrates a measurement of the cone angle of the head 9a of a rivet 9 from a side image of the rivet 9 acquired by the camera 14 in profile. This measurement is performed by determining the angle α between the rod 9b and the head 9b as shown in Figure 4d. If the angle does not fall within a predetermined range of values, then the rivet 9 is considered as non-compliant and is rejected to the waste bin 1 of the sort station 10.
    FIG. 4e illustrates a measure of perpendicularity between the head 9a and the rod 9b of a rivet 9 from a profile image of the rivet 9 acquired by the camera 14 in profile. This measurement is made by determining the angle β between the rod 9b and the head 9a as shown in FIG. 4e. If the angle has a predetermined variation with respect to a 90 ° angle, then the rivet 9 is considered as non-compliant and is rejected to the waste bin 1 lr of the sorting station 10.
    FIG. 4f illustrates a measurement of a beat of the cone of the head 9a with the rod 9b of a rivet 9 from a profile image of the rivet 9 acquired by the camera 14 in profile. If the axis of revolution generated by the measurement of the cone does not fit in a cylinder of predetermined diameter (for example 0.1mm) around the axis generated by the rod, the rivet 9 is considered as non-compliant and is rejected to the waste bin 1 lr from the sorting station 10.
    FIG. 4g illustrates a measurement of the distance between a reference diameter of the head and the end of the head 9a of the rivet 9, from a profile image of the rivet 9 acquired by the camera 14 in profile. This measurement is made by determining the position of the reference diameter and the measurement of the distance c between the position of this reference diameter and the end of the head 9a. If this distance deviates from a predetermined range of values, the rivet 9 is considered as non-compliant and is rejected to the waste bin 1 lr of the sorting station 10.
    FIG. 4h illustrates a measurement of the diameter of the rod 9b of the rivet 9, from a profile image of the rivet 9 acquired by the camera 14 in profile or from an input image acquired by the camera 50d. 'Entrance. This measurement is made by determining the diameter t of the rod 9b of the rivet 9. If this diameter t deviates from a predetermined range of values, the rivet 9 is considered as non-compliant and is rejected to the waste bin 40. it has been detected by the input camera 50 upstream or to the waste bin 11r of the sort station 10 if it has been detected by the ovalization camera 13 downstream.
    FIG. 4i illustrates a measurement of the concentricity of the rod 9b with respect to the head 9a of the rivet 9, from a profile image of the rivet 9 acquired by the camera 14 in profile. If the axis of revolution generated by the measurement of the head does not fit in a cylinder of predetermined diameter (for example 0.1mm) around the axis generated by the rod, the rivet 9 is considered as non-compliant and is rejected to the waste bin 1 lr of the sorting station 10.
    FIG. 4j illustrates a measurement of the connection radius r between the rod 9b and the head 9a of the rivet 9, from a profile image of the rivet 9 acquired by the camera 14 in profile. If the connection radius is greater than a predetermined value, the rivet 9 is considered as non-compliant and is rejected to the waste bin 1 lr of the sorting station 10. 7. Example
    In order to illustrate the principle of measuring and sorting a machine according to the invention, an example is given below for rivets known under the reference EN 6100-040.
    The structural characteristics measured are as follows: - diameter of the head, - ovalization, - impact, - cone angle - head / rod perpendicularity, - beat cone with the rod, - distance between a reference diameter and the end of the head, - rod diameter, - concentricity - connection radius
    The table below specifies the values of the characteristics leading to the rejection of the part to the waste bin and the ranges of values associated with each receiving tray.
    According to the embodiment below, the structural sorting feature is the average diameter of the rivet heads. It is therefore from the measurements of this characteristic that the rivets are classified in the various reception bins. The table below gives, for each measured structural characteristic, the ranges of values for which the rivet is considered to be non-compliant and the ranges of sorting values making it possible to attribute each rivet to a receiving tray.
    Of course, these values are given by way of example only for a reference of rivets.
    The setting of the sorting machine can be done according to the needs. In particular, in the example given, the structural characteristic of sorting is the average diameter of the rivet. According to other variants, another structural feature can be used as a sorting structural feature.
    权利要求:
    Claims (13)
    [1" id="c-fr-0001]
    1. Apparatus for measuring and sorting assembly parts (9), such as countersunk head rivets, each comprising a head (9a) and a rod (9b), said machine comprising: a reservoir (5) for feeding parts (9) to sort a plurality of trays (11, 21, 31) for receiving the sorted parts, a conveyor device (6, 7) for the parts to be sorted arranged between said feed tank (5) and said containers Receiving means (13, 14, 23, 24, 33, 34, 50) for acquiring images of each part (9) to be sorted conveyed by said conveying device (6). , 7), an image processing unit (8) acquired by said optical means (13, 14, 23, 24, 33, 34, 50), said processing unit (8) being configured to provide at least one measurement of at least one structural characteristic {d, a, i, β, t) of each piece to be sorted, distribution means (15, 25, 35) of each piece to a receiving tray chosen from said plurality of trays (11, 21, 31) as a function of at least one measurement of at least one structural characteristic (d, a, i, β, t) of this part provided by said processing unit (8), referred to as sorting structural feature, wherein each receiving bin is associated with a predetermined range of values of at least one structural characteristic (d, a, i, β, t) of sorting said assembly pieces.
    [2" id="c-fr-0002]
    2. Machine according to claim 1, characterized in that it comprises gripping means (12, 22, 32) of the parts conveyed by said conveyor, said gripping means (12, 22, 32) being configured to be able to move connecting pieces between a position, said coin gripping position, in which the coins are on said conveying device (6, 7), and a position, said shooting position, in which the coins are fixed relative to each other. said image acquisition means (13, 14, 23, 24, 33, 34, 50).
    [3" id="c-fr-0003]
    3. Machine according to claim 2, characterized in that said optical image acquisition means comprise: at least one camera, called ovalization camera (13, 23, 33), configured to be able to acquire a front image of the head of each assembly part (9), at least one camera, said profile camera (14, 24, 34), configured to be able to acquire a side image of each assembly part.
    [4" id="c-fr-0004]
    4. Machine according to claim 3, characterized in that at least one ovality camera (13, 23, 33) and at least one profile camera (14, 24, 34) are formed by one and the same mobile camera between a position in which it is arranged in the axis of the rod (9b) of the piece (9) to be measured held by said gripping means (12, 22, 32), facing the head, in order to be able to acquire a front image of the head (9a) of this part (9), and a position in which it is arranged perpendicularly to the axis of the rod (9b) of this part (9), in order to be able to acquire a side image of this piece (9).
    [5" id="c-fr-0005]
    5. Machine according to one of claims 3 or 4, characterized in that it comprises a plurality of sorting stations (10, 20, 30), each sorting station (10, 20, 30) being formed by means gripping device (12, 22, 32), an ovality camera (13, 23, 33), a profile camera (14, 24, 34), and distribution means (15, 25, 35) for the parts said receiving bins (11, 21, 31).
    [6" id="c-fr-0006]
    6. Machine according to claim 5, characterized in that it comprises three sorting stations (10, 20, 30).
    [7" id="c-fr-0007]
    7. Machine according to one of claims 3 to 6, characterized in that said processing unit (8) is configured to be able to provide, for each piece (9), at least one measurement of at least one structural feature of this one of the following measures: a measure of ovality of the head (9a) of this piece (9) from at least one image of this piece (9) acquired by an ovalization camera (13, 23, 33 ), a measurement of the size of a possible impact on the head (9a) of this piece (9), from at least one image of this piece acquired by an ovalization camera (13, 23, 33) , a measurement of the diameter of the head (9a) of this piece (9), from at least one image of this piece acquired by an ovalization camera (13, 23, 33), a measurement of the perpendicularity between the head (9a) and the rod (9b) of this piece, from at least one image of this piece acquired by a profile camera (14, 24, 34), a of the beat cone of the head (9a) relative to the rod (9b) of this piece, from at least one image of this piece acquired by a profile camera (14, 24, 34), a measurement of the connecting radius of the head (9a) on the rod (9b) of this piece, from at least one image of this piece acquired by a profile camera (14, 24, 34), a measurement of the diameter of the rod (9b) of this piece, from at least one image of this piece acquired by a profile camera (14, 24, 34), a measurement of the cone angle of the head (9a) of this piece, from at least one image of this piece acquired by a profile camera (14, 24, 34), a measurement of the distance along the head (9a) between a reference diameter and an end of the head (9a) of this piece, from at least one image of this piece acquired by a profile camera (14, 24, 34).
    [8" id="c-fr-0008]
    8. Machine according to one of claims 1 to 7, characterized in that it comprises at least one waste container (llr, 21r, 31r), to which said dispensing means (15, 25, 35) reject each piece (9) of which at least one measurement of at least one structural characteristic (d, a, i, β, t) provided by said processing unit is not within a predetermined range of values.
    [9" id="c-fr-0009]
    9. Machine according to one of claims 1 to 8, characterized in that said optical means further comprises a camera, said input camera (50), arranged at the conveyor device, near the tank (5) supplying the parts (9) to be sorted, this input camera (50) being configured to supply at least one image, called the input image, of each part (9) to be sorted, and in that said unit ( 8) is configured to be able to provide, from at least one image of each piece (9) acquired by this input camera (50), a measurement of the total length of the workpiece, a measurement of the diameter of the workpiece. the head of this piece, and / or a measure of the diameter of the rod of this piece.
    [10" id="c-fr-0010]
    10. Machine according to claims 8 and 9 taken together, characterized in that said dispensing means (15, 25, 35) are configured to reject to a waste container (40) any part (9) of which at least one provided measurement by said processing unit (8) from an image of said input camera (50) is not included in at least a predetermined range of values.
    [11" id="c-fr-0011]
    11. Machine according to one of claims 1 to 10, characterized in that each receiving tray (11, 21, 31) is associated with a predetermined range of values of a single structural characteristic of sorting parts (9 ) assembly.
    [12" id="c-fr-0012]
    12. Machine according to claim 11, characterized in that said structural sorting feature is the diameter of the head of the assembly parts.
    [13" id="c-fr-0013]
    13. Machine according to one of claims 1 to 12, characterized in that said connecting parts are countersunk rivets for an aeronautical application.
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    同族专利:
    公开号 | 公开日
    EP3390962B1|2019-11-13|
    EP3390962A1|2018-10-24|
    ES2761874T3|2020-05-21|
    FR3045814B1|2017-12-29|
    US20190009304A1|2019-01-10|
    CA3008814A1|2017-06-22|
    WO2017103391A1|2017-06-22|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE4313829A1|1993-04-28|1994-11-03|Helmut A Kappner|Device for testing mouldings|
    US6111601A|1995-12-11|2000-08-29|Adachi; Yoshi|Non-contacting laser gauge for qualifying screw fasteners and the like|
    US9035210B1|2010-08-17|2015-05-19|Bratney Companies|Optical robotic sorting method and apparatus|
    DE102014106312A1|2014-05-06|2015-11-12|Broetje-Automation Gmbh|Method for testing a rivet|
    US6606403B2|2000-05-04|2003-08-12|Daniel Freifeld|Repetitive inspection system with intelligent tools|
    JP4043258B2|2002-03-13|2008-02-06|オリンパス株式会社|3D imaging device|
    US20150083549A1|2011-06-27|2015-03-26|Mukesh Ram|System and method for sorting articles|DE102016108875A1|2016-05-13|2017-11-16|Broetje-Automation Gmbh|Method for filling a rivet cassette with rivet elements|
    DE102016108874A1|2016-05-13|2017-11-16|Broetje-Automation Gmbh|Method for filling a rivet cassette with rivet elements|
    CN109225915B|2018-11-02|2019-10-11|西南交通大学|A kind of rivet quality classification and Automated Sorting System and method|
    CN111151462B|2020-01-20|2021-08-27|南宁市广迪自动化科技有限公司|Inductor detection production line|
    法律状态:
    2016-11-14| PLFP| Fee payment|Year of fee payment: 2 |
    2017-06-23| PLSC| Publication of the preliminary search report|Effective date: 20170623 |
    2017-12-21| PLFP| Fee payment|Year of fee payment: 3 |
    2019-12-19| PLFP| Fee payment|Year of fee payment: 5 |
    2020-12-23| PLFP| Fee payment|Year of fee payment: 6 |
    2021-12-24| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1562882A|FR3045814B1|2015-12-18|2015-12-18|MACHINE FOR MEASURING AND SORTING RUSH TYPE RIVET ASSEMBLY PARTS|FR1562882A| FR3045814B1|2015-12-18|2015-12-18|MACHINE FOR MEASURING AND SORTING RUSH TYPE RIVET ASSEMBLY PARTS|
    EP16825470.4A| EP3390962B1|2015-12-18|2016-12-09|Machine for measuring and sorting countersunk-head rivets-type assembly parts|
    US16/060,898| US20190009304A1|2015-12-18|2016-12-09|Machine for measuring and sorting assembly parts such as countersunk-head rivets|
    PCT/FR2016/053304| WO2017103391A1|2015-12-18|2016-12-09|Machine for measuring and sorting assembly parts such as countersunk-head rivets|
    CA3008814A| CA3008814A1|2015-12-18|2016-12-09|Machine for measuring and sorting assembly parts such as countersunk-head rivets|
    ES16825470T| ES2761874T3|2015-12-18|2016-12-09|Machine for measuring and classifying assembly parts of the type rivets with milled heads|
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