CN105834708A - Locating system for intelligent assembly and working method of locating system - Google Patents
Locating system for intelligent assembly and working method of locating system Download PDFInfo
- Publication number
- CN105834708A CN105834708A CN201610319756.1A CN201610319756A CN105834708A CN 105834708 A CN105834708 A CN 105834708A CN 201610319756 A CN201610319756 A CN 201610319756A CN 105834708 A CN105834708 A CN 105834708A
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- CN
- China
- Prior art keywords
- assembly
- guide pillar
- linear bearing
- vertical
- horizontal
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
Abstract
The invention discloses a locating system for intelligent assembly. The locating system comprises a base, a vertical guide column, a vertical linear bearing, a top end fixing block, balancers, a cross frame, a transverse linear bearing, a transverse guide column, a clamping head, an assembly tool, a rubber fixing ring, a rotating sensor, a magnetic ruler linear displacement sensor, a rotating sensor fixing mechanism, magnetic ruler linear displacement sensor fixing mechanisms, a mechanical locating block and a system controller. The system can be used as a handheld assembly tool in the automatic assembly process, the output torque and assembly time of the assembly tool are controlled, and it can be strictly ensured that the assembly tool is perpendicular to an assembly face; and it is ensured that the assembly tool can be only located to the next assembly point according to the assembly sequence required by a process, and hole assembly quality and the assembly process can be guaranteed easily.
Description
Technical field:
The present invention relates to a kind of alignment system towards Intelligent assembly and method of work thereof, it belongs to Automated assembly technology neck
Territory.
Background technology:
Intelligence manufacture the most just requires that manufacture instrument has intellectuality, the intellectuality for assembling, to assembling alignment system
Have claimed below: first assembling alignment system can not only accurately export the output moment of torsion and installation time that can arrange, and also wants
Asking can be according to assembly technology requirement to pre-defined assemble sequence, and to control assembly crewman all the time strict during assembling
Assemble by predefined order.In order to ensure assembling quality, during also requiring assembling, ensure assembly tool and dress
Join the perpendicularity in face, so that it is guaranteed that screw and hole occur without during assembling and grind one's teeth and unbalance stress produces during Zhuan Pei
Erection stress even makes product rejection.Simultaneously assembling location instrument can also all of data in Real-time Collection assembling, remember
Record, it is simple to process optimization and quality tracing.Finally require that the use of assembling alignment system can be more humane, reduce work strong
Degree.The existing patent in Automated assembly field patent as disclosed in patent No. CN201520586423.6 can be real
Existing automatic tightening screw, is controlled output moment of torsion, and the patent shown in patent No. CN201420522514.9 is in reality
Show automatic tightening screw, output moment of torsion is controlled can also carrying out self-feeding simultaneously, but the uncontrollable assembling of both of which
Beat, is monitored assembling process, can not define porous assembling according to technological requirement and the assemble sequence of control hole,
Also the information collected cannot be stored and processes, and then realize intellectuality.
Summary of the invention:
It is an object of the invention to the demand for development according to intelligence manufacture, for the problem in current assembly system, it is proposed that
A kind of alignment system towards Intelligent assembly and method of work thereof, this system can collect assembling, position and be detected on one,
The feature of its maximum is: (1) can define the sequencing of hole assembling, the i.e. workpiece to some porous, can make it
Assemble in a designated order, in case inappropriate erection sequence causes the unbalance stress of assembly；(2) can be to defeated
The torque gone out and installation time carry out strict control, thus ensure quality and the efficiency of assembling；(3) owing to using horizontal stroke
To detent mechanism, it is ensured that assembly tool is perpendicular to fitting surface, have an advantage in that it can be avoided that artificial hand-held assembly tool
Shi Wufa ensures the vertical of assembly tool and fitting surface, thus occurs during causing assembling that screw thread such as is ground one's teeth at the problem.The party
Method ensure that the correctness of technique from technological layer.Simultaneously as have employed balancer, assemble mechanism can be made in vertically side
Keep balance to optional position, thus operator's handheld tool always can be avoided, during making whole assembling, consume body hardly
Power.It addition, combined with sensing technology and control technology, can monitor assembling process in real time, the assembling to being unsatisfactory for requiring is carried out
Realtime Alerts, so the detection time that the later stage can be reduced ensure that the quality of product simultaneously.And, its system layout is convenient,
Pipeline and energy utilization rate are high, are a kind of intelligent assembling alignment systems.
The present invention adopts the following technical scheme that a kind of alignment system towards Intelligent assembly, including pedestal, vertical guide pillar,
Vertically linear bearing, top fixed block, be provided with the extraction balancer of steel wire, crossbearer, horizontal linear bearing, horizontal guide pillar,
Clamping head, assembly tool, rubber retainer plate, turn-sensitive device, magnetic scale linear displacement transducer, turn-sensitive device are fixed
Mechanism, magnetic scale linear displacement transducer fixed mechanism, machinery locating piece, and system controller, described vertical guide pillar props up
Supportting on pedestal, described top fixed block is connected on an end of vertical guide pillar, and turn-sensitive device is connected to top and fixes
On block, two balancers are separately fixed at the both sides of top fixed block, and described vertical linear bearing and balancer are by drawing
Steel wire is connected, and together with described crossbearer is mounted on vertical linear bearing, vertical linear bearing and vertical guide pillar match
Closing, described rubber fixed trap is located on vertical guide pillar, together with described crossbearer is mounted on horizontal linear bearing, and institute
Stating clamping head and be mounted on an end of horizontal guide pillar, be used for fixing assembly tool, described machinery locating piece is fixed on horizontal leading
Another end of post, described system controller is connected with magnetic scale linear displacement transducer, turn-sensitive device, and described magnetic scale is straight
Linear movement pick-up is fixed together with crossbearer and horizontal linear bearing, and to carry out the measurement of lateral displacement, described magnetic scale is straight
Linear movement pick-up and turn-sensitive device constitute the information gathering of system, and communicate information to system controller, described flat
Weighing apparatus is between top fixed block and vertical linear bearing.
Further, described horizontal linear bearing includes two linear bearings, two linear bearings in horizontal linear bearing
Match with horizontal guide pillar, constitute transverse movement.
Further, described clamping head is made up of two semicircles being connected together by nut.
The present invention also adopts the following technical scheme that the method for work of a kind of alignment system towards Intelligent assembly, including as follows
Step:
(1). according to the operation to be assembled on automated assembly line and to be positioned and the operation of detection, especially one work
Have several even more than there being the assembling position fixing process of strict sequencing matching requirements on position, the most according to demand, crossbearer and
Relatively rotating of the relative displacement of horizontal guide pillar and vertically guide pillar and vertical linear bearing, thus navigate to corresponding position and enter
Luggage is joined, and detects；
(2). judge have whether the operation successively required meets the requirement specified, data according to several groups of data collected
Collection completed by magnetic scale linear displacement transducer and turn-sensitive device, the process of information and judge then by with magnetic scale straight line
Displacement transducer, turn-sensitive device be connected system controller complete, whole mechanical module and the cooperation of control module thus
Complete to assemble the assembling of alignment system, position and detection process.
There is advantages that
1. comparing the artificial hand-held assembling of employing, the present invention utilizes crossbearer, horizontal linear bearing, horizontal guide pillar and vertical guide pillar,
Vertically linear bearing and clamping head, so that it is guaranteed that during Zhuan Pei, assembly tool is perpendicular to fitting surface so that do not have
The problems such as the unbalance stress caused owing to assembly tool is not orthogonal to fitting surface during grinding one's teeth and assembling, from technology layer
Face ensure that the correctness of technique；
2. the present invention uses towards the alignment system of Intelligent assembly, compares with other assembly systems, have employed sensing technology and
Control technology, can carry out strict control to the torque of output and installation time, it is ensured that the normalization of whole assembling process
And controllability, embody the intelligent of this system, can examine while assembling simultaneously because have employed sensing technology
Survey monitoring and Realtime Alerts, reduce the detection time of system；
3. the present invention uses the alignment system towards Intelligent assembly, comprehensively have employed location, assembles and detect function, and
Creative employs balancer so that whole system may be at servo-actuated state, thus reduces the labour intensity of workman,
Meanwhile, this assembling alignment system frame for movement is simple, and volume is little, owing to using pedestal to fix so that this system can be very
Conveniently it is applied on Automatic Conveying line Anywhere, successfully solve the whole system of the Automated assembly in background technology
The layout designs of system is inconvenient, integrated level is low, pipeline and energy utilization rate is low, the most flexible low and optimizing scheduling side
Just and cause labor waste and add the problems such as labour intensity of workman；
4., for comparing more traditional single hand-held assembly tool, use this location assembly system, multi-functional can be collected
It is engaged in one, and on existing automated assembly line, the demand a certain simple function being acted on to task is also increasingly
Few, take and with be the length in order to reduce whole automated assembly line, as far as possible various functions is gathered together,
Simplify layout designs, improve transfer efficiency and resource utilization, improve the integration of system greatly；
5. for other single alignment systems that compare, using this location assembly system, frame for movement is simple, connection side
Just, flexibility is higher simultaneously, can replace the assembling on clamping head and detection instrument at any time according to the difference checking object, with
Time due to whole system easy for installation, the appropriate location that can be arranged on very easily on automated assembly line.
Accompanying drawing illustrates:
Fig. 1 is the present invention structure chart towards the alignment system of Intelligent assembly.
Fig. 2 is the present invention front view towards the alignment system of Intelligent assembly.
Fig. 3 is the present invention side view towards the alignment system of Intelligent assembly.
Fig. 4 is the present invention top view towards the alignment system of Intelligent assembly.
Wherein:
1-pedestal, the vertical guide pillar of 2-, the vertical linear bearing of 3-, 4-top fixed block, 5-balancer, 6-crossbearer, 7-is horizontal
To linear bearing, the horizontal guide pillar of 8-, 9-clamps head, 10-assembly tool, 11-rubber retainer plate, 12-turn-sensitive device, 13-
Magnetic scale linear displacement transducer, 14-turn-sensitive device fixed mechanism, 15-magnetic scale linear displacement transducer fixed mechanism, 16-
Machinery locating piece, 17-system controller.
Detailed description of the invention:
Refer to shown in Fig. 1 to Fig. 4, the present invention towards the alignment system of Intelligent assembly include pedestal 1, vertical guide pillar 2,
Vertically linear bearing 3, top fixed block 4, balancer 5, crossbearer 6, horizontal linear bearing 7, horizontal guide pillar 8, clamping
9, assembly tool 10, rubber retainer plate 11, turn-sensitive device 12, magnetic scale linear displacement transducer 13, rotate and pass
Sensor fixed mechanism 14, magnetic scale linear displacement transducer fixed mechanism 15, machinery locating piece 16 and system controller 17.
Pedestal 1 is fixed on ground or other fixed pedestal (not shown), and vertical guide pillar 2 is supported on pedestal 1, top
Fixed block 4 is connected on the end of vertical guide pillar 2, and turn-sensitive device 12 is connected on top fixed block 4, puts down for two
Weighing apparatus 5 is separately fixed at the both sides of top fixed block 4, vertical linear bearing 3 and the balancer 5 extraction by balancer
Steel wire is connected.Together with crossbearer 6 is mounted on vertical linear bearing 3, and then make the crossbearer 6 can be along with vertically
Linear bearing 3 in the vertical direction moves along a straight line, and vertical linear bearing 3 and vertical guide pillar 2 match, and constitutes vertically
The motion in direction, rubber retainer plate 11 is sheathed on vertical guide pillar 2, for limiting the stroke of vertical direction.Crossbearer 6
Together with being mounted on horizontal linear bearing 7, and then make the crossbearer 6 can be along with horizontal linear bearing 7 is in laterally side
Upwards moving along a straight line, another end that the most mechanical locating piece 16 is fixed on horizontal guide pillar 8 is spacing to realize at horizontal
Effect.Wherein laterally linear bearing 7 includes two linear bearings, two linear bearings in horizontal linear bearing 7 with
Horizontal guide pillar 8 matches, and constitutes transverse movement.Clamping 9 is mounted on an end of horizontal guide pillar 8, for fixing dress
Allotment of labor has 10, and wherein clamping 9 can be made up of two semicircles, is connected by nut, and this allows for being mounted on clamping
Assembly tool 10 on 9 has certain adjustability, can also be applied to according to the difference of assembly tool 10 simultaneously
Different assembly systems.Magnetic scale linear displacement transducer 13 is fixed together with crossbearer 6 and horizontal linear bearing 7, enters
And carry out the measurement of lateral displacement.Magnetic scale linear displacement transducer and turn-sensitive device constitute the information gathering of system, and will
Information sends system controller 17 to.Balancer 5 at top fixed block 4 with vertically between linear bearing 3, balancer
Extraction steel wire and vertical linear bearing 3 on 5 connect, simultaneously can be according to the difference of hung weight and the big ditty of stroke
The damping of joint balancer 5, so that crossbearer 6 can keep balance at arbitrary height, it is not necessary to extra hand-held power.
The present invention, towards in the alignment system of Intelligent assembly, positions including location, polar radius direction and polar angle direction, Qi Zhongji
Radial direction location includes horizontal linear bearing 7, horizontal guide pillar 8 and magnetic scale linear displacement transducer 13, and polar angle direction positions
Including vertical linear bearing 3, vertical guide pillar 2 and turn-sensitive device 12.Magnetic scale linear displacement transducer 13 is collected
Polar radius direction displacement (i.e. straight-line displacement) and polar angle direction displacement (the i.e. angle position that collects of turn-sensitive device 12
Move) data are transferred to system controller 17, assemble sequence can be defined, i.e. to during Automated assembly to dress
Sequence ligand has the assembly process of strict demand to be monitored, thus improve product qualification rate and reduce product detection time
Between.
The present invention comprises the steps: towards the alignment system of Intelligent assembly
(1). according to the operation to be assembled on automated assembly line and to be positioned and the operation of detection, especially one work
Have several even more than there being the assembling position fixing process of strict sequencing matching requirements on position, the most according to demand, crossbearer and
Relatively rotating of the relative displacement of horizontal guide pillar and vertically guide pillar and vertical linear bearing, thus navigate to corresponding position and enter
Luggage is joined, and detects；
(2). judge have whether the operation successively required meets the requirement specified, data according to several groups of data collected
Collection completed by magnetic scale linear displacement transducer and turn-sensitive device, the process of information and judge then by with magnetic scale straight line
Displacement transducer, turn-sensitive device be connected system controller complete, whole mechanical module and the cooperation of control module thus
Complete to assemble the assembling of alignment system, position and detection process.
The above is only the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, some improvement can also be made under the premise without departing from the principles of the invention, these improvement also should be regarded as the present invention's
Protection domain.
Claims (4)
1. the alignment system towards Intelligent assembly, it is characterised in that: include pedestal (1), vertical guide pillar (2), erect
Straight linear bearing (3), top fixed block (4), it is provided with the extraction balancer (5) of steel wire, crossbearer (6), horizontal straight line
Bearing (7), horizontal guide pillar (8), clamping head (9), assembly tool (10), rubber retainer plate (11), turn-sensitive device
(12), magnetic scale linear displacement transducer (13), turn-sensitive device fixed mechanism (14), magnetic scale linear displacement transducer
Fixed mechanism (15), machinery locating piece (16), and system controller (17), described vertical guide pillar (2) is supported in
On pedestal (1), described top fixed block (4) is connected on an end of vertical guide pillar (2), turn-sensitive device (12)
Being connected on top fixed block (4), two balancers (5) are separately fixed at the both sides of top fixed block (4), institute
State vertical linear bearing (3) to be connected by drawing steel wire with balancer (5), described crossbearer (6) and vertical straight line
Bearing (3) is mounted on together, and vertical linear bearing (3) and vertical guide pillar (2) match, and described rubber is solid
Fixed circle (11) is sheathed on vertical guide pillar (2), and described crossbearer (6) and horizontal linear bearing (7) are mounted on
Together, described clamping head (9) is mounted on an end of horizontal guide pillar (8), is used for fixing assembly tool (10),
Described machinery locating piece (16) is fixed on another end of horizontal guide pillar (8), described system controller (17) and magnetic scale
Linear displacement transducer (13), turn-sensitive device (12) are connected, and described magnetic scale linear displacement transducer (13) is with horizontal
Frame (6) and laterally linear bearing (7) are fixed together, to carry out the measurement of lateral displacement, and described magnetic scale straight-line displacement
Sensor (13) and turn-sensitive device (12) constitute the information gathering of system, and communicate information to system controller (17),
Described balancer (5) is positioned between top fixed block (4) and vertical linear bearing (3).
2. as claimed in claim 1 towards the alignment system of Intelligent assembly, it is characterised in that: described horizontal linear bearing
(7) including two linear bearings, two linear bearings in horizontal linear bearing (7) match with horizontal guide pillar (8),
Constitute transverse movement.
3. as claimed in claim 2 towards the alignment system of Intelligent assembly, it is characterised in that: described clamping head (9)
It is made up of two semicircles being connected together by nut.
4. the method for work of the alignment system towards Intelligent assembly as claimed in claim 1, it is characterised in that: bag
Include following steps
(1). according to the operation to be assembled on automated assembly line and to be positioned and the operation of detection, especially one work
Have several even more than there being the assembling position fixing process of strict sequencing matching requirements on position, the most according to demand, crossbearer and
Relatively rotating of the relative displacement of horizontal guide pillar and vertically guide pillar and vertical linear bearing, thus navigate to corresponding position and enter
Luggage is joined, and detects；
(2). judge have whether the operation successively required meets the requirement specified, data according to several groups of data collected
Collection completed by magnetic scale linear displacement transducer and turn-sensitive device, the process of information and judge then by with magnetic scale straight line
Displacement transducer, turn-sensitive device be connected system controller complete, whole mechanical module and the cooperation of control module thus
Complete to assemble the assembling of alignment system, position and detection process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610319756.1A CN105834708B (en) | 2016-05-13 | 2016-05-13 | A kind of alignment system and its method of work towards Intelligent assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610319756.1A CN105834708B (en) | 2016-05-13 | 2016-05-13 | A kind of alignment system and its method of work towards Intelligent assembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105834708A true CN105834708A (en) | 2016-08-10 |
| CN105834708B CN105834708B (en) | 2018-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610319756.1A Active CN105834708B (en) | 2016-05-13 | 2016-05-13 | A kind of alignment system and its method of work towards Intelligent assembly |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6080531A (en) * | 1983-10-07 | 1985-05-08 | Nec Corp | Caulking device |
| US20060179633A1 (en) * | 2005-02-15 | 2006-08-17 | Chan Andre Sirilutporn | System, method, and apparatus for detecting fasteners during automated re-work of defective workpieces |
| CN203636345U (en) * | 2013-12-27 | 2014-06-11 | 柳州市浙亚汽车底盘部件有限责任公司 | Wheel hub bearing locknut tightening machine |
| CN104227394A (en) * | 2014-08-26 | 2014-12-24 | 江阴博衍机械设备有限公司 | Automatic tightening device of steel wire thread insert |
| CN204075683U (en) * | 2014-09-11 | 2015-01-07 | 东莞诚兴五金制品有限公司 | A kind of bolt, nut automatic assembling machine |
| CN205218485U (en) * | 2015-12-09 | 2016-05-11 | 上海力柯机电科技有限公司 | Mechanism is screwed up to spider |
-
2016
- 2016-05-13 CN CN201610319756.1A patent/CN105834708B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6080531A (en) * | 1983-10-07 | 1985-05-08 | Nec Corp | Caulking device |
| US20060179633A1 (en) * | 2005-02-15 | 2006-08-17 | Chan Andre Sirilutporn | System, method, and apparatus for detecting fasteners during automated re-work of defective workpieces |
| CN203636345U (en) * | 2013-12-27 | 2014-06-11 | 柳州市浙亚汽车底盘部件有限责任公司 | Wheel hub bearing locknut tightening machine |
| CN104227394A (en) * | 2014-08-26 | 2014-12-24 | 江阴博衍机械设备有限公司 | Automatic tightening device of steel wire thread insert |
| CN204075683U (en) * | 2014-09-11 | 2015-01-07 | 东莞诚兴五金制品有限公司 | A kind of bolt, nut automatic assembling machine |
| CN205218485U (en) * | 2015-12-09 | 2016-05-11 | 上海力柯机电科技有限公司 | Mechanism is screwed up to spider |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105834708B (en) | 2018-04-17 |
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