CN104484553B - A kind of method for lifting tightening tool robot formation value - Google Patents
A kind of method for lifting tightening tool robot formation value Download PDFInfo
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- CN104484553B CN104484553B CN201410690704.6A CN201410690704A CN104484553B CN 104484553 B CN104484553 B CN 104484553B CN 201410690704 A CN201410690704 A CN 201410690704A CN 104484553 B CN104484553 B CN 104484553B
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Abstract
The invention provides a kind of method for lifting tightening tool robot formation value, the tightening tool includes impact wrench, adapter and the special heads of Lu Bailin, and this method includes：Step one：Measurement obtains the output torque of at least one set of tightening tool, obtains its average output torque；Step 2：The target torque of the average output torque divided by setting is obtained into penalty coefficient；Step 3：If the penalty coefficient is 1, then carry out step 4, if not 1, then it is multiplied by the actual efficiency value of the special heads of Lu Bailin of setting, it regard the actual efficiency value of the special heads of the Lu Bailin as the preliminary design efficiency value judged next time, and the penalty coefficient judged next time is obtained, repeat step three is untill the penalty coefficient is equal to 1；Obtain robot formation value when penalty coefficient is equal to 1.The present invention can be obviously improved the robot formation value of the special heads of Lu Bailin, and then lift the capacity of equipment of kit, the final stabilization for ensureing product quality with it is reliable.
Description
Technical field
The present invention relates to tightening tool field operation, especially a kind of side for lifting tightening tool robot formation value
Method.
Background technology
L ü bbering (translated names：Lu Bailin) special head, i.e., a kind of Eccentric Gear-drive mechanism, because it can be by some
Travelling gear coordinates transmission moment of torsion, changes the torque output direction of tightening tool, to meet the bolts assemblies in special space,
And ensure certain precision, so as to be widely used in Automatic manual transmission field, the installation, panel assembly such as vehicle brake hard tube
Install etc., it can significantly improve human engineering environment, lift operating efficiency, at the same ensure the instant recording of moment of torsion result with it is upper
Pass, finally realize that the accurate of safety feature fastening bolt assembly information is reviewed.
So that vehicle is assembled as an example, as shown in figure 1, a whole set of tightening tool is mainly included：High-precision electric impact wrench (precision
± 4%~± 5%, delivery efficiency is adjustable), adapter (precision ± 1%, delivery efficiency 95%) and the special heads of Lu Bailin (close
Oral precision ± 7%；Be open head precision ± 15%；Delivery efficiency is adjustable).If the special heads of Lu Bailin are furnished with opening head, a whole set of
The output torque trueness error of tightening tool is more than 20%, it is impossible to meet Related product technical standard.And it is generally believed that a whole set of twist
When Cmk (robot formation) value of clamping tool is more than or equal to 1.0, this cover screwing instrument can be just used on its product.
But in rundown process, because opening head output end is not completely closed, be present incomplete engagement in gear, such as scheme
Shown in 2, if high-precision electric impact wrench and opening head delivery efficiency matches unreasonable, the screw-down torque of kit
There to be extensive output property, the ability of the stable output state of kit holding is poor, and Cmk values are often unable to reach 1.0, outside
Boundary shows as the big ups and downs of bolt tightening torque, ultimately causes the uncontrollable of product quality.In this case, factory is whole
Set instrument Cmk values are less than 1.0 station temporarily using (before new opening head completes the qualified demarcation phase)：First using with opening
The high-precision spanner of head carries out pretension, reuses mechanical definite value torque spanner and pulls again；Or directly turned round using mechanical definite value
Torque wrench tightens all bolts.But the above method substantially prolongs processing operation time, and (the former every bolt about increases 10s operations
Time, every bolt of the latter about increases the 15s operating times), cause man-hour to waste, labor strength increase, cost increase is twisted
Tight data can not upload server, and manually operate to also increase to a certain extent and tighten risk, and can not monitor, this
Method can not pass through correlated process examination ＆ verification.Even if the opening head instrument Cmk values that the station is used are more than or waited before using
In 1.0, (2~3 months) are used through load after a while, its Cmk value also will appear from being decreased obviously, it is impossible to meet product again
Quality standard, that is, the head shorter capacity of equipment stationary phase that is open needs to carry out the moment of torsion sampling observation of high frequency time and opening leader determines work
Make, equally cause above-mentioned cost increase (such as 60JPH standards chemical plant needs consumption opening first 20 or so every year), risk increases
Greatly.
The content of the invention
The tightening tool machine energy equipped with the special heads of Lu Bailin can be obviously improved it is an object of the invention to provide a kind of
The method of power exponential quantity, for assisting the producer to confirm whether current tightening tool state meets technical requirements, and is protected for a long time
The stable output of tightening tool is demonstrate,proved, is existed for example to solve assembly shop：Supporting Lu that brake hard tube tightening technique is used
The impact wrench of Berlin opening head there is a situation where in use it is unstable, be easily damaged or output accuracy is not up to standard.
In order to achieve the above object, the invention provides a kind of method for lifting tightening tool robot formation value, institute
Stating tightening tool includes impact wrench, adapter and the special heads of Lu Bailin, and the impact wrench passes through adapter and the Lu Bai
The special head connection of woods, the method for the lifting tightening tool robot formation value comprises the following steps：
Step one：Demarcate the tightening tool using calibration facility, according to the output torque of the calibration facility obtain to
The output torque of tightening tool is to form sample data described in few one group, and obtains the average output torque of the sample data；
Step 2：The target torque of the average output torque divided by setting is obtained into penalty coefficient；Step 3：Judge institute
Whether be 1, if 1 progress step 4 if stating penalty coefficient, if not 1, then the penalty coefficient is multiplied by the Lu Bailin of setting
The preliminary design efficiency value of special head is to obtain the actual efficiency value of the special heads of Lu Bailin, by the actual efficiency of the special heads of the Lu Bailin
Value is as the preliminary design efficiency value judged next time, and the preliminary design efficiency value judged next time according to this is multiplied by the penalty coefficient and obtained
The penalty coefficient judged next time is obtained, repeat step three is untill the penalty coefficient is equal to 1；
Step 4：Measurement obtains robot formation value when penalty coefficient is equal to 1.
Further, the special heads of the Lu Bailin have opening head.
Further, the special heads of the Lu Bailin also have head of remaining silent.
Further, the impact wrench has controller, and the controller shows the target torque T1, and：
T1=T × ηControl×ηTurn×ηHead×k1,
Wherein, T is the output torque of the tightening tool sensor, ηControlFor the impact wrench controller efficiency because
Son, ηTurnFor the efficiency factor of the adapter, ηHeadFor the delivery efficiency factor of the special heads of the Lu Bailin, k1For the Lu Bailin
The preliminary design efficiency value of special head.
Further, the calibration facility is that moment of torsion demarcates dolly, and demarcating dolly by moment of torsion measures the tightening tool
Output torque, and then obtain its robot formation value, the output torque of the moment of torsion demarcation dolly is T2, and：
T2=T × ηControl×ηTurn×ηHead×k2,
Wherein, k2For the special head actual efficiency values of the Lu Bailin.
Further, the penalty coefficient is k, and：
Further, measurement obtains the output torque of the n groups tightening tool, and its average output torque is X, is put down with described
Equal output torque substitutes the output torque that the moment of torsion demarcates dolly, then
Wherein, XiFor i-th of sample data.
Further, n is equal to 50.
Further, the impact wrench is high-precision electric impact wrench.
The invention provides a kind of method for lifting tightening tool robot formation value, by adjusting the special heads of Lu Bailin
Delivery efficiency, the robot formation value of the special heads of Lu Bailin can be obviously improved, and then lift the equipment energy of kit
Power, and pass through the maintenance of rational instrument, the correct stabilization for using and periodic detection, finally ensureing product quality in equipment aspect
With it is reliable.
Brief description of the drawings
Fig. 1 is the tightening tool schematic diagram provided in an embodiment of the present invention equipped with the special heads of Lu Bailin；
Fig. 2 is the special head schematic diagram in Lu Berlin provided in an embodiment of the present invention；
Fig. 3 is the flow chart provided in an embodiment of the present invention for lifting tightening tool robot formation method；
Fig. 4 (a) is robot formation value before the special head optimizations of No. 1 Lu Bailin provided in an embodiment of the present invention；
Fig. 4 (b) is robot formation value after the special head optimizations of No. 1 Lu Bailin provided in an embodiment of the present invention；
Fig. 5 (a) is robot formation value before the special head optimizations of No. 2 Lu Bailin provided in an embodiment of the present invention；
Fig. 5 (b) is robot formation value after the special head optimizations of No. 2 Lu Bailin provided in an embodiment of the present invention；
Fig. 6 (a) is robot formation value before the special head optimizations of No. 3 Lu Bailin provided in an embodiment of the present invention；
Fig. 6 (b) is robot formation value after the special head optimizations of No. 3 Lu Bailin provided in an embodiment of the present invention；
Fig. 7 (a) is robot formation value before the special head optimizations of No. 4 Lu Bailin provided in an embodiment of the present invention；
Fig. 7 (b) is robot formation value after the special head optimizations of No. 4 Lu Bailin provided in an embodiment of the present invention；
Fig. 8 is the probability density function of output torque before and after the special head optimizations of four groups of Lu Bailin provided in an embodiment of the present invention
Figure；
Fig. 9 is the contrast bar of robot formation value before and after the special head optimizations of four groups of Lu Bailin provided in an embodiment of the present invention
Shape figure.
Wherein, 101：High-precision electric impact wrench, 102：Adapter, 103：The special heads of Lu Bailin, 101：Export sleeve.
Embodiment
The embodiment of the present invention is described in more detail below in conjunction with schematic diagram.According to description below and
Claims, advantages and features of the invention will become apparent from.It should be noted that, accompanying drawing uses very simplified form and equal
Using non-accurately ratio, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
Robot formation (Cmk) refers under process stable case, the guarantee product quality that machinery equipment has
Ability, the stability that its value size is exported for equipment under high beat volume production is particularly important, and as shown in table 1, table 1 gives Cmk
Value processes the relation of grade with equipment, and Cmk values are bigger, illustrate that the product disqualification rate that may be triggered by equipment state is lower.
Table 1
The evaluation procedure of Cmk values is：The equipment tool being assessed (being in the present embodiment tightening tool) is adjusted to steady
Determine output state, then take the output valve (being in the present embodiment the output torque of demarcation dolly) of n group normal loads as sample
This, the calculation formula of Cmk values is as follows：
Wherein, MIN：Minimum value, USL：Margin of to lerance on sample, UCL：Margin of to lerance under sample, Xi：I-th of sample number
According to,Sample population mean, S：Sample population deviation, n：Sample size.
Average when sample it can be seen from formula (1.1) and (1.2) is equal with the average value of sample bound tolerance
When, formula (1.1) has maximum numerator value, and it is the half of the sample margin of tolerance.Likewise, as any sample value XiIt is close
The sample average, then the sample there is less deviation.Therefore the lifting key of Cmk values is sample output value stabilization, concentrated, and
It is positioned as close to desired value.
Based on above-mentioned analysis, as shown in figure 3, the invention provides a kind of side for lifting tightening tool robot formation value
Method, this method implement primary condition be：
1. the tester with abundant demarcation experience；
2. high-precision impact wrench, adapter precision are satisfied by the related request of enterprise, special with Lu Bailin (L ü bbering)
Different complete demarcation；
3. the special head in Lu Berlin is maintained according to product requirement periodic maintenance；
4. the precision of moment of torsion demarcation dolly meets enterprise's related request；
5. after tightening, the opening direction of the special heads of Lu Bailin is consistent；
6. compared with the slow-speed of revolution：The rotating speed of a whole set of tightening tool is 20~40r/min；
7. neutral interspecific association is secondary (it is the calibrating parameters that moment of torsion demarcates dolly)：Coefficient 135；
8. it is continuous, stably, the test of level, low reaction force (tightening tool can produce reaction force in rundown process,
Need fully to fix tightening tool horizontal direction by fixture, it is ensured that a whole set of tightening tool does not shake in the case of continuous tighten
Dynamic, test environment is stable).
With reference to Fig. 1 and Fig. 2 (each sized data unit is millimeter in Fig. 2), the tightening tool includes impact wrench, switching
First 102 and Lu Bailin special first 103, in the present embodiment, impact wrench are high-precision electric impact wrench 101, described high-precision
Degree electric tightening spanner 101 is connected by adapter 102 with the Lu Bailin special first 103, Lu Bailin special first 103 and output
Sleeve 104 is connected, and the method for the lifting tightening tool robot formation value comprises the following steps：
Step one：The tightening tool is demarcated, obtains at least one set of described stubborn according to the output torque of the calibration facility
The output torque of clamping tool obtains the average value of the sample data to form sample data (be averaged output torque)；
Step 2：The target torque of the average output torque divided by setting is obtained into penalty coefficient；Step 3：Judge institute
Whether be 1, if 1 progress step 4 if stating penalty coefficient, if not 1, then the penalty coefficient is multiplied by the Lu Bailin of setting
The preliminary design efficiency value of special head is to obtain the actual efficiency value of the special heads of Lu Bailin, by the actual efficiency of the special heads of the Lu Bailin
Value is as the preliminary design efficiency value judged next time, and the preliminary design efficiency value judged next time according to this is multiplied by the penalty coefficient and obtained
The penalty coefficient judged next time is obtained, repeat step three is untill the penalty coefficient is equal to 1；
Step 4：Measurement obtains robot formation value when penalty coefficient is equal to 1.
In the present embodiment, the Lu Bailin special first 103 has opening head (the special heads of Lu Bailin equipped with opening head
103 are referred to alternatively as Lu Bailin openings head).In other embodiments, the Lu Bailin special first 103 also has head of remaining silent.
In the present embodiment, the calibration facility is that moment of torsion demarcates dolly.
For kit, it is in calibration process, and output valve has two paths：The show value T of impact wrench controller1
(being target torque)；Moment of torsion demarcates the output torque T of dolly2.The impact wrench has controller, and the controller is shown
The target torque T1, and：
T1=T × ηControl×ηTurn×ηHead×k1 (1.3)
Wherein, T is the output torque of the tightening tool sensor, ηControlFor the impact wrench controller efficiency because
Son, ηTurnFor the efficiency factor of the adapter 102, ηHeadFor the Lu Bailin special first 103 delivery efficiency factor, k1To be described
Lu Bailin special first 103 preliminary design efficiency value (preliminary design efficiency value is also referred to as preliminary design offset).
Dolly is demarcated by moment of torsion and measures the output torque of the tightening tool, and then obtains its robot formation value,
The moment of torsion demarcates the output torque T of dolly2For：
T2=T × ηControl×ηTurn×ηHead×k2 (1.4)
Wherein, k2For the Lu Bailin special first 103 actual efficiency value, (actual efficiency value is also referred to as actual compensation
Value).
For the tightening technique of brake hard tube, (14Nm, AD18, i.e. torque range are 14Nm ± 15%), it is contemplated that high accuracy
The torque output of electric tightening spanner 101 is linear, demarcates qualified in the spanner, while in the production number of each component of tool set
Under conditions of matching relationship is constant, the efficiency factor of tightening tool controller (i.e. the efficiency of high-precision electric impact wrench 101 because
Son) ηControl, the delivery efficiency factor η of adapter 102TurnWith Lu Bailin special first 103 delivery efficiency factor ηHeadIt may be regarded as constant, T1
With T2Whether the special head preliminary design efficiency value k of Lu Bailin are then unanimously depended primarily on1With actual efficiency value k2It is whether consistent.
I.e.：
The penalty coefficient is defined for k, and：
Measurement obtains the output torque of the n groups tightening tool, and its average output torque isWhen the output of kit
Moment of torsion is stable, and when close to target torque, with the average output torqueThe output for substituting the moment of torsion demarcation dolly is turned round
Square T2, then
In general, sample size is approximately equal to 50.In the present embodiment, sample size is 50, i.e.,：
N=50 (1.9)
To sum up, as shown in figure 3, setting initial torque monitoring programme, the efficiency of setting high-precision electric impact wrench 101 because
Sub- ηControl, adapter 102 efficiency factor ηTurnAnd Lu Bailin special first 103 efficiency factor ηHead, meeting above-mentioned primary condition
Afterwards, first run Cmk tests are carried out, 50 groups of torque values is continuously and stably exported, obtains average output torque, willWith target torque
T1Contrast, if ratio (penalty coefficient) is not equal to 1, illustrates the current efficiency values of Lu Bailin special first 103 (if from initial
State starts to calculate, then the current efficiency value of the special heads of Lu Bailin is preliminary design efficiency value k1) and high-precision electric impact wrench 101
Mismatch, first round optimization need to be carried out, i.e., do not changing high-precision electric impact wrench 101 and the efficiency factor of adapter 102
On the basis of, the ratio is multiplied by special first 103 efficiency values of current Lu Bailin and (is multiplied by preliminary design efficiency the first round when
Value), using result as special first 103 efficiency value (the preliminary design efficiency value the judged) input systems of new Lu Bailin next time,
Said process is repeated under stable state, Cmk tests are re-started, the ratio of average output torque and target torque is calculated, depending on feelings
Condition judges whether the Cmk values of kit have met use requirement.
In order to illustrate to use after the above method, the situation of change of tightening tool Cmk values, extracting 4 groups is used to tighten braking firmly
The Lu Bailin special first 103 of (target torque 14Nm) is managed, the high-precision impact wrench 101 of supporting identical and adapter before and after optimization
102, and each component matching relationship before optimization, after keep constant, its Cmk value is tested respectively.As shown in table 2, four groups (numberings
Respectively 1,2,3,4) Lu Bailin special first 103 is in preliminary design efficiency value k1=0.5, bar of the margin of tolerance ± 15%, ± 20%
Under part, Cmk values are respectively less than 1.0, are unsatisfactory for the related request of enterprise, it is impossible to normally use, such as Fig. 4 (a), Fig. 5 (a), Fig. 6 (a)
With Fig. 7 (a) Suo Shi, the output torque fluctuation of each group opening tool is violent, and torque output controllability is poor.
Table 2
Under conditions of test environment is constant, according to the method described above, Lu Bailin special first 103 is assembled with to 4 tightens work
The Cmk values of tool are optimized.Comprise the following steps that：
(1) 50 groups of nominal datas are continuously and stably exported, are averaged
(2) takeT1=14Nm, k1=0.5, formula (1.8) and (1.9) is substituted into, k is drawn2′；
(3) by k2' as the new efficiency value input controller, then demarcate, until efficiency value k1With k2Tend to one
Cause.
After just suboptimization is completed, step (1), (2) are repeated, (3) carry out many suboptimization, you can obtain higher Cmk
Value, as shown in table 3, table 3 give the Cmk values after opening head optimization.
Table 3
Can be with by Fig. 4 (a), Fig. 5 (a), Fig. 6 (a), Fig. 7 (a), Fig. 4 (b), Fig. 5 (b), Fig. 6 (b), Fig. 7 (b) Fig. 8 and Fig. 9
Find out, before optimization, output torque fluctuation is obvious, and distribution is more discrete, and moment of torsion is uncontrollable, walks and optimizes by 1-2 for four groups of samples
Afterwards, the torque output dispersion of sample is substantially improved, the 2nd especially as shown in Fig. 5 (a) group sample, excellent by 2 steps
After change, output torque sample distribution is more symmetrical, and the output of process is gradually to center excursD, in the distribution of the output of process mass property
The heart (sample average) is more nearly specification center (target torque value).After 1-2 step optimizations, the sample of a whole set of tightening tool is defeated
Go out moment of torsion dispersion relatively optimize before be improved significantly, sample population deviation is reduced significantly, its corresponding instrument Cmk be worth to compared with
Big lifting, the product defects rate that may be caused by equipment is greatly reduced, and disclosure satisfy that use of the enterprise for the special heads of Lu Bailin
Standard.
The invention provides a kind of method for lifting tightening tool robot formation value, test environment is fully being met
Under the conditions of, by adjusting the delivery efficiency of the special heads of Lu Bailin, the robot formation value of opening head can be obviously improved, and then
The capacity of equipment of kit is lifted, and is maintained, correctly used and periodic detection, finally in equipment side by rational instrument
Face ensure the stabilization of product quality with it is reliable.
The preferred embodiments of the present invention are above are only, any restriction effect is not played to the present invention.Belonging to any
Those skilled in the art, in the range of technical scheme is not departed from, to the invention discloses technical scheme and
Technology contents make the variation such as any type of equivalent substitution or modification, belong to the content without departing from technical scheme, still
Belong within protection scope of the present invention.
Claims (9)
1. a kind of method for lifting tightening tool robot formation value, it is characterised in that the tightening tool includes tightening pulling
Hand, adapter and the special heads of Lu Bailin, the impact wrench are connected by adapter with the special heads of the Lu Bailin, the lifting
The method of tightening tool robot formation value comprises the following steps：
Step one：The tightening tool is demarcated using calibration facility, at least one is obtained according to the output torque of the calibration facility
The output torque of the group tightening tool obtains the average output torque of the sample data to form sample data；
Step 2：The target torque of the average output torque divided by setting is obtained into penalty coefficient；
Step 3：Whether be 1, if 1 progress step 4 if judging the penalty coefficient, if not 1, then the penalty coefficient is multiplied by
The preliminary design efficiency value of the special heads of the Lu Bailin of setting is to obtain the actual efficiency value of the special heads of Lu Bailin, by the Lu Bailin
The actual efficiency value of special head is as the preliminary design efficiency value judged next time, and the preliminary design efficiency value judged next time according to this multiplies
The penalty coefficient judged next time is obtained with the penalty coefficient, repeat step three is untill the penalty coefficient is equal to 1；
Step 4：Measurement obtains robot formation value when penalty coefficient is equal to 1.
2. the method for tightening tool robot formation value is lifted as claimed in claim 1, it is characterised in that the Lu Bailin
Special head has opening head.
3. the method for tightening tool robot formation value is lifted as claimed in claim 2, it is characterised in that the Lu Bailin
Special head also has head of remaining silent.
4. the method for tightening tool robot formation value is lifted as claimed in claim 2, it is characterised in that described tighten is pulled
Hand has controller, and the controller shows the target torque T1, and：
T1=T × ηControl×ηTurn×ηHead×k1,
Wherein, T is the output torque of the tightening tool, ηControlFor the efficiency factor of the impact wrench controller, ηTurnTo be described
The efficiency factor of adapter, ηHeadFor the delivery efficiency factor of the special heads of the Lu Bailin, k1For the first of the special heads of the Lu Bailin
If efficiency value.
5. the method for tightening tool robot formation value is lifted as claimed in claim 4, it is characterised in that the demarcation is set
It is standby to demarcate dolly for moment of torsion, dolly is demarcated by moment of torsion and measures the output torque of the tightening tool, and then obtains its machine energy
Power exponential quantity, the output torque of the moment of torsion demarcation dolly is T2, and：
T2=T × ηControl×ηTurn×ηHead×k2,
Wherein, k2For the actual efficiency value of the special heads of the Lu Bailin.
6. the method for tightening tool robot formation value is lifted as claimed in claim 5, it is characterised in that the compensation system
Number is k, and：
7. the method for tightening tool robot formation value is lifted as claimed in claim 6, it is characterised in that measurement obtains n
The output torque of the tightening tool is organized, its average output torque isThe moment of torsion mark is substituted with the average output torque
Determine the output torque of dolly, then
Wherein, XiFor i-th of sample data.
8. the method for tightening tool robot formation value is lifted as claimed in claim 7, it is characterised in that n is equal to 50.
9. the method for the lifting tightening tool robot formation value as described in claim any one of 1-8, it is characterised in that institute
Impact wrench is stated for high-precision electric impact wrench.
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| CN1714361A (en) * | 2003-05-02 | 2005-12-28 | 富士通株式会社 | Manufacturing procedure analysis support method, program for causing a computer to execute the method, program product, and recording medium |
| CN102400808A (en) * | 2010-09-16 | 2012-04-04 | 通用汽车环球科技运作有限责任公司 | Calibration control systems and methods |
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