CN106271544A - Combined camshaft automatic setup system and assembly method - Google Patents

Combined camshaft automatic setup system and assembly method Download PDF

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Publication number
CN106271544A
CN106271544A CN201610761726.6A CN201610761726A CN106271544A CN 106271544 A CN106271544 A CN 106271544A CN 201610761726 A CN201610761726 A CN 201610761726A CN 106271544 A CN106271544 A CN 106271544A
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China
Prior art keywords
steel pipe
work
cam shaft
jaw
robot
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CN201610761726.6A
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CN106271544B (en
Inventor
秦祖安
舒万强
蔡勇
李聪明
王莲
瞿贵峰
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MIANYANG BRILLIANCE RUIAN AUTO COMPONENTS CO Ltd
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MIANYANG BRILLIANCE RUIAN AUTO COMPONENTS CO Ltd
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Publication of CN106271544A publication Critical patent/CN106271544A/en
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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
    • B23P19/02—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 for connecting objects by press fit or for detaching same
    • B23P19/027—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 for connecting objects by press fit or for detaching same using hydraulic or pneumatic means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automatic Assembly (AREA)

Abstract

The invention discloses a kind of combined camshaft automatic setup system and assembly method, including the first robot and the second robot, the peripheral region cooperation of first robot is provided with kludge, steel pipe feed bin, parts feed bin, second robot peripheral region coordinates the swelling machine that is provided with, Laser Jet barcode scanning device, end fittings assembling device, torque tester and finished product storage conveying arrangement, and swelling machine, end fittings assembling device, torque tester are connected with Laser Jet barcode scanning device telecommunication respectively.The data that torsional forces size in tension force size in combined camshaft production process, end fittings installation pressure size, moment of torsion detection can be detected and detect by the present invention in real time are stored in the stamp coding corresponding with combined camshaft, and this advantageously combined camshaft subsequent quality is followed the trail of, failure problems is investigated and crudy lifting.

Description

Combined camshaft automatic setup system and assembly method
Technical field
The present invention relates to combined camshaft and assemble mounting technology field, particularly relate to a kind of combined camshaft and automatically assemble system System and assembly method.
Background technology
Combined camshaft includes steel pipe and is arranged at the cam outside steel pipe, needs mounting end at the mouth of pipe of steel pipe two ends Assembly parts, conventional art is when production and processing combined camshaft, and each processing operation station is the most all to separate, adjacent two Carry out part conveying by conveyer belt between processing operation station, thus can take bigger processing working space.Further, group Close the torsional forces size in the tension force size during Camshaft Production, end fittings installation pressure size, moment of torsion detection Cannot be carried out detecting in real time and storing, the indices in such combined camshaft production process the most just cannot store with follow-up Searching, this follows the trail of for combined camshaft subsequent quality, failure problems is investigated and crudy promotes and brings many technology Difficulty.The processing of conventional combination Camshaft Production there is also following 3 technical problems:
First point, combined camshaft include steel pipe and are arranged at the cam outside steel pipe, install cam outside steel pipe After so that cam and penstock installation structure are the tightst, firmly, be often to expand steel by steel ball in steel tube inner hole Pipe diameter is so that cam is combined the tightst with steel pipe.In prior art, often it is left in steel pipe after steel ball reaming, steel Ball cannot reclaim and reuse, and steel ball can through steel pipe reaming repeatedly, and its precision just cannot meet its requirement, owing to steel ball is made Valency is higher, if steel ball is stayed in steel pipe, can reduce effective utilization of resource.In conventional art, combined camshaft is in swelling Cheng Zhong, steel ball moves in steel tube inner hole, and steel ball is moving to outside the most cams mounted steel tube inner hole part, combined camshaft Swelling resistance the least；Steel ball is provided with the steel tube inner hole part of cam moving to outside, the swelling resistance of combined camshaft Power is the biggest.Conventional art cannot realize detecting combined camshaft swelling drag size, the most also cannot sentence the most intuitively Break and whether steel ball puts in place the cam combination outside steel pipe and reach requirement, because combined camshaft swelling drag size is permissible Intuitively reflect that steel ball acts on steel pipe inner wall tension force size；Detecting test data by the cam moment of torsion of combined camshaft can To show that steel ball is acted on the how many tension force of steel pipe inner wall and can be detected by cam moment of torsion.Prior art cannot realize inspection Survey steel ball tension force size of swelling cam in steel tube inner hole, also cannot go out whether cam is attached to steel pipe by intuitive judgment Position, this just brings many difficulties to the detection of the quality of production of combined camshaft, and cannot record combined camshaft swelling Drag data, the most just cannot realize combined camshaft trouble shoot and eliminating.
Second point, combined camshaft include steel pipe and are arranged at the cam outside steel pipe, and combined camshaft is at steel pipe two ends It is required to mounting end assembly parts at the mouth of pipe, in end, combined camshaft two ends, end fittings is installed and just can produce combination Camshaft finished product.When terminal mounting ends portion, combined camshaft two ends assembly parts, conventional art is first at the one of combined camshaft By a manually installed end fittings on individual end, the most again by artificial peace on another end of combined camshaft Fill another end fittings.Conventional art cannot realize two ends of combined camshaft mounting end assembly parts the most simultaneously, Its production efficiency is the lowest.
Thirdly, combined camshaft include steel pipe and be arranged at the cam outside steel pipe, the steel pipe of combined camshaft needs Carry out torsional forces detection, between steel pipe and the cam of combined camshaft, be also required to torsional forces detection, especially compound cam simultaneously Torsional forces detection between steel pipe and the cam of axle is the important indicator of combined camshaft product quality.Prior art cannot be passed through One torsional forces testing agency realizes the torsional forces detection between the detection of steel pipe torsional forces and steel pipe, cam, traditional moment of torsion Tension detection mechanism detect combined camshaft time often structure the most more complicated, and torsional forces detection operation the most comparatively laborious, The quick detent torque power detection of each position of combined camshaft cannot be realized, and conventional torque tension detection mechanism cannot be to group The torsion closing camshaft applying carries out torsion detection.
Summary of the invention
The weak point existed for prior art, it is an object of the invention to provide a kind of combined camshaft and automatically assembles System and assembly method, the tension force size in combined camshaft production process, end fittings can be installed pressure by the present invention Torsional forces size in the detection of power size, moment of torsion detects in real time and the data that detect are stored in relative with combined camshaft In the stamp coding answered, so just could be aware that combined camshaft is raw by the information in inquiry combined camshaft coded data storehouse Indices during product, this advantageously combined camshaft subsequent quality is followed the trail of, failure problems is investigated and crudy carries Rise.
The purpose of the present invention is achieved through the following technical solutions:
A kind of combined camshaft automatic setup system, including the first robot and the second robot, described first robot Peripheral region cooperation is provided with kludge, steel pipe feed bin, parts feed bin, and described steel pipe feed bin is used for holding combined camshaft group Steel pipe needed for dress, described parts feed bin is for holding the cam needed for combined camshaft assembles, and described kludge is used for Several cams are installed outside steel pipe and assemble combined camshaft first product；The peripheral region cooperation of described second robot is provided with swollen Tight machine, Laser Jet barcode scanning device, end fittings assembling device, torque tester and finished product storage conveying arrangement, described Swelling machine coordinates by the mutual swelling of steel pipe and cam for passing through swelling steel ball in the steel pipe of combined camshaft first product, described end Portion's assembly parts assembling device is for assembling end fittings formation group respectively at the steel pipe two ends mouth of pipe of combined camshaft first product Closing camshaft finished product, described torque tester is between steel tube end part and steel pipe, the cam of combined camshaft finished product Torsional forces detect, described finished product storage conveying arrangement for store torsional forces detection after combined camshaft finished product and Transport combined camshaft finished product, described Laser Jet barcode scanning device is for the tension force in combined camshaft production, end dress Accessory installs pressure, the torsional forces of combined camshaft moment of torsion detection carries out storing and corresponding combined camshaft carries out stamp, barcode scanning Operation；Having the first robot arm in described first robot, the working region of the first robot arm is the first robot Arm working region, the first robot arm working region of the first robot covers kludge, steel pipe feed bin, parts material Storehouse, four parts of swelling machine；There is in described second robot the second robot arm, the working region of the second robot arm Being the second robot arm working region, the second robot arm working region of described second robot covers swelling machine, swashs Light stamp barcode scanning device, end fittings assembling device, torque tester, finished product storage five parts of conveying arrangement；Described Swelling machine, end fittings assembling device, torque tester are connected with Laser Jet barcode scanning device telecommunication respectively.
The present invention provides a kind of preferably kludge structure technology scheme to be: described kludge includes lifting motor, fuselage C, electric rotating machine, device for dotting and parts assembling positioning table, described fuselage C top is installed and is provided with lifting motor, lifts electricity Being provided with elevating screw on power output shaft, described electric rotating machine sidepiece is provided with base, the base power of described electric rotating machine Coordinating and be installed on elevating screw, elevating screw is used for driving base and the electric rotating machine oscilaltion campaign of electric rotating machine, Described electric rotating machine end is provided with the chuck for clamping steel pipe, is provided with the assembling corresponding with clip position bottom fuselage C Part assembling positioning table, described fuselage C be provided be positioned at parts assembling positioning table above device for dotting, described in get dress ready Putting corresponding with clip position, device for dotting connects gets driving cylinder ready.
The present invention provides a kind of preferably swelling machine structure technology scheme to be: described swelling machine includes fuselage A, swelling hydraulic pressure Cylinder, hold-down mechanism and pressure transducer A, described fuselage A top is installed the most successively and is provided with hydraulic cylinder support arm, swelling support arm With compression support arm, described hydraulic cylinder support arm being provided with swelling hydraulic cylinder, swelling hydraulic cylinder has the flexible fortune of dependence hydraulic-driven Dynamic push rod A, described push rod A end sequentially passes through hydraulic cylinder support arm, swelling support arm and combined camshaft absorption surface, described pressure Being provided with hold-down mechanism on tight support arm, described combined camshaft piece-holder is installed between push rod A end and hold-down mechanism, institute State on hold-down mechanism and corresponding the pressure transducer A for detecting hold-down mechanism thrust size to be installed, described push rod A end with Being provided with swelling steel ball between the steel pipe nozzle of compound cam shaft-like work, the bar footpath of described push rod A is less than compound cam shaft-like work Steel tube inner hole diameter, the diameter of described swelling steel ball than the steel tube inner hole diameter big 0.1～0.3mm of compound cam shaft-like work, Described fuselage A is provided with the steel ball recovery and rinsing device of corresponding compound cam shaft-like work；Described pressure transducer A and Laser Jet Barcode scanning device telecommunication connects.
The present invention provides a kind of preferably end fittings to assemble apparatus structure technical scheme: described end fittings fills Equipped putting includes assembling oil cylinder, pressure transducer B and fuselage B, and described fuselage B top is installed the most successively and is provided with oil cylinder and props up Seat, push rod coordinate bearing, the second end assembling termination, and described cylinder support is provided with assembling oil cylinder, and assembling oil cylinder has and depends on By the piston rod of hydraulic-driven stretching motion, piston rod end connects has the connection of pressure transducer B, pressure transducer B end to have Push rod B, described push rod coordinates bearing to be provided with push rod stretching motion hole, and described push rod B end coordinates pushing away of bearing through push rod Bar stretching motion hole；Described fuselage B top is additionally provided with fixture slide rail, is slidably fitted with several workpiece clamp on fixture slide rail Tool, on described work piece holder, clamping is provided with described compound cam shaft-like work, and described fixture slide rail is equal with compound cam shaft-like work Bearing, the second end is coordinated to assemble between termination at push rod；Described push rod B end activity is equipped with and compound cam shaft-like work The steel pipe left end mouth of pipe match install first end assembly parts, described the second end assembling termination on activity be equipped with and group Close camshaft workpiece the steel pipe right-hand member mouth of pipe match install the second end assembly parts.
The present invention provides a kind of preferably torque tester structure technology scheme to be: described torque tester includes turning round Force motor, change speed gear box, revolution torsion torque sensor, front end three-jaw, tail end three-jaw, clamp system, slide rail, screw mandrel and clamp system are flat Moving motor, the clutch end of described torsion motor is connected with the power intake power of change speed gear box, the power of described change speed gear box Outfan is connected with revolution torsion torque sensor power, and revolution torsion torque sensor is connected with front end three-jaw power, combined camshaft work The steel pipe of part has installation front end and installs rear end, and the installation front end cooperation of described steel pipe is installed in the three-jaw of front end, described tail End three-jaw is connected with tail end three-jaw actuating unit power, and the installation rear end cooperation of described steel pipe is installed in tail end three-jaw；Described The clamp assembly of clamp system matches with the combined camshaft location of workpiece, and described clamp system end is provided with to coordinate with slide rail and slides The dynamic slide block installed, described clamp system translation motor drives screw mandrel to rotate by drive mechanism, and described clamp system is provided with Match the screw mandrel counterpart of transmission with screw mandrel, and screw mandrel is used for driving screw mandrel counterpart to do rectilinear translation fortune together with clamp system Dynamic；Described drive mechanism is driving belt, and the power output shaft of described clamp system translation motor is provided with belt pulley A, institute State and belt pulley B is installed on screw mandrel, between belt pulley A and belt pulley B, be connected with drive mechanism.
As preferably, described fuselage A top is provided with two workpiece support, and one of them workpiece support is propped up near swelling Arm is arranged, and another workpiece support is arranged near compressing support arm；Described workpiece support top is provided with two and supports jig arm, work Part supports two support jig arm of seat and is used for supporting compound cam shaft-like work；Described steel ball recovery and rinsing device includes that steel ball returns Receive case, steel ball collection box is contained with rinse water, and in steel ball collection box, is provided with several cleaning shower nozzles, described steel ball Collection box and the combined camshaft location of workpiece are to being correspondingly arranged.
As preferably, the fixture slide rail of described fuselage B is slidably fitted with two work piece holders, one of them work piece holder Arranging near first end assembly parts, another work piece holder is arranged near the second end assembly parts, and two work piece holders are common Clamp standoff is in the two ends, left and right of compound cam shaft-like work；Described work piece holder top has two and supports jig arm, work piece holder Two support jig arm be used for clamping compound cam shaft-like work.
As preferably, automatic setup system of the present invention also includes that fuselage, the both side ends of described clamp system are provided with respectively One slide block, the quantity of described slide rail is two, and two slide rails lay respectively at clamp system two side ends, two cunnings of clamp system Block coordinates one by one and is slidably mounted in two slide rails；The end, two ends of described screw mandrel is separately installed with rotary shaft bearing, described torsion Force motor, change speed gear box, slide rail and two rotary shaft bearings are fixedly installed on fuselage respectively；The length of described screw mandrel and slide rail Length matches, and the length of described screw mandrel is longer than the length of compound cam shaft-like work.
As preferably, automatic setup system of the present invention also includes control system, constant temperature air conditioning system and housing, described housing Being provided with control system and constant temperature air conditioning system, described constant temperature air conditioning system has six constant temperature air conditionings and goes out pipe, six constant temperature skies Recall pipe to assemble device, torque tester with kludge, swelling machine, Laser Jet barcode scanning device, end fittings respectively, become Product storage conveying arrangement one_to_one corresponding is arranged；Described control system is beaten with kludge, the first robot, swelling machine, laser respectively Code barcode scanning device, end fittings assembling device, torque tester, finished product storage conveying arrangement, the second robot one a pair Should electrically connect.
A kind of combined camshaft automatic assembly method, its assembly method is as follows:
A, steel pipe and the cam assembling operation of combined camshaft: its operational method is as follows:
A1, the first robot arm of the first robot capture the steel pipe needed for combined camshaft assembles from steel pipe feed bin And by penstock installation on the chuck of electric rotating machine end；First robot arm of the first robot is from parts feed bin Capture the cam needed for combined camshaft assembles and cam be positioned on parts assembling positioning table；The lifting electricity of kludge Machine drives elevating screw descending motion, and elevating screw is rotated motor, chuck descending motion, and grips steel pipe together declines Motion；
A2, first grips steel pipe drop to extreme lower position, and now steel pipe is placed through parts assembling positioning table Cam, make steel pipe cam installation site point topmost corresponding with device for dotting position, device for dotting is getting driving cylinder ready Under motion effect ready steel pipe cam installation site point topmost being got operation, then grips steel pipe continues to decline, when The top cam installation site point of steel pipe drops at the cam position being positioned at parts assembling positioning table and makes cam Location and installation is outside the top cam installation site point of steel pipe；
A3, the lifting motor of kludge drive elevating screw to rise reseting movement, and elevating screw is rotated motor, chuck Rising reseting movement, grips steel pipe together rises reseting movement；First robot arm of the first robot is from assembling zero Part feed bin captures the cam needed for combined camshaft assembles and cam is positioned on parts assembling positioning table；Kludge Lifting motor drive elevating screw descending motion, elevating screw is rotated motor, chuck descending motion, grips steel pipe Together descending motion, makes steel pipe the second cam installation site point topmost corresponding with device for dotting position, and device for dotting is being beaten Point drives and under cylinder moving effect ready steel pipe the second cam installation site point topmost is got operation, then grips steel Pipe continue decline, when the top the second cam installation site point of steel pipe drop to be positioned at parts assembling positioning table cam Position also makes cam orientation be installed on outside the top the second cam installation site point of steel pipe；Step according to step A3 Method and principle install all cams outside steel pipe the most successively；
A4, the lifting motor of kludge drive elevating screw to rise reseting movement, and elevating screw is rotated motor, chuck Rising reseting movement, grips steel pipe together rises reseting movement；
B, combined camshaft swelling operation: the combined camshaft of step A is passed through the first robot of the first robot Arm crawls out from kludge and is installed between push rod A end and the hold-down mechanism of swelling machine, and swelling Driven by Hydraulic Cylinder pushes away Bar A stretches out motion, and push rod A moves right and promote swelling steel ball to enter combined camshaft from the compound cam shaft-like work left end mouth of pipe In the steel tube inner hole of workpiece, swelling Driven by Hydraulic Cylinder push rod A continues stretch out motion and promote swelling steel ball in combined camshaft work The steel tube inner hole of part moves to right-hand member from left end, finally falls to steel ball from the steel tube inner hole right-hand member of compound cam shaft-like work and return Receive and clean in device；Pressure transducer A detects the tension force size of hold-down mechanism and transmits tension force data to Laser Jet In barcode scanning device；
C, combined camshaft stamp operation: will be located in the group in swelling machine by the second robot arm of the second robot Close camshaft workpiece grabbing out and to be positioned on Laser Jet barcode scanning device compound cam shaft-like work is carried out stamp operation, should Coding corresponding to compound cam shaft-like work is printed on compound cam shaft-like work, and Laser Jet barcode scanning device is ordered at this coding Tension force during this combined camshaft work piece production that in the data base of name, in storing step B, pressure transducer A transmits Size data；
D, the end fittings assembling work of combined camshaft: by the second robot arm of the second robot by step Compound cam shaft-like work in C is clamped by two work piece holders of end fittings assembling device；First on the right side of push rod B First end assembly parts, and movable installation the second end dress on the left surface of the second end assembling termination are installed in end end activity Accessory, starts assembling cylinder efficient, and assembling oil cylinder drives piston rod, pressure transducer B, push rod B horizontal linear to the right to transport successively Dynamic, the first end assembly parts that push rod B right-hand member end is installed insert in the steel pipe left end mouth of pipe being installed on compound cam shaft-like work, Then push rod B right-hand member end continues to move right, and push rod B promotes compound cam shaft-like work, two work piece holders to transport the most to the right Dynamic, then make the steel pipe right-hand member mouth of pipe of compound cam shaft-like work connect with the second end assembly parts of the second end assembling termination Touch and coordinate insertion to install；Push rod B promotes compound cam shaft-like work, two work piece holders to continue together to move right, until group Till the steel pipe two ends mouth of pipe of conjunction camshaft workpiece has been respectively mounted end fittings；Pressure transducer B detection assembling oil cylinder gives The size of pressure pressure size data transmit to Laser Jet barcode scanning device；Second robot arm of the second robot will Combined camshaft workpiece grabbing is also transported to Laser Jet barcode scanning device and carries out barcode scanning, and Laser Jet barcode scanning device is by pressure sensing Pressure size data detected by device B is stored in the data base of the corresponding coding of this compound cam shaft-like work；
E, the torsional forces detection operation of combined camshaft: its detection method is as follows:
E1, by the second robot arm of the second robot combined camshaft work pieces mate is installed on front end three-jaw and Between tail end three-jaw；The penstock installation front end of compound cam shaft-like work is coordinated and is installed in the three-jaw of front end, by front end three-jaw Actuating unit applies driving force to front end three-jaw and clamps penstock installation front end by front end three-jaw；The steel pipe peace of compound cam shaft-like work The cooperation of dress rear end is installed in tail end three-jaw, by tail end three-jaw actuating unit, tail end three-jaw is applied driving force by tail end three-jaw Clamping penstock installation rear end；
E2, steel pipe front end to compound cam shaft-like work carry out torsional forces detection: start clamp system translation motor and also lead to Crossing drive mechanism and output power to screw mandrel end, screw mandrel rotates and drives the screw mandrel counterpart of clamp system to move, and screw mandrel drives Movable wire bar counterpart does linear translational motion together with clamp system, and clamp system is additional translational motion on two slide rails, finally The clamp assembly allowing clamp system clamps steel pipe front end；Start torsion motor to transmit torsional forces to change speed gear box, pass through change speed gear box Being transmitted successively by torsional forces after speed change to turning round torsion torque sensor, front end three-jaw, front end three-jaw relies on front end three-jaw engine Structure clamping penstock installation front end；The clamp assembly clamping steel pipe front end of clamp system, front end three-jaw clamping penstock installation front end is also Clamping penstock installation front end applies torsional forces, and revolution torsion torque sensor realizes carrying out the steel pipe front end of compound cam shaft-like work Torsional forces detects, and revolution torsion torque sensor will detect that steel pipe front end torsional forces transmits to Laser Jet barcode scanning device；
E3, between steel pipe and the cam of compound cam shaft-like work install coordinates compactness to carry out torsional forces detection: clamp Mechanism's translation motor outputs power to screw mandrel end by drive mechanism, and screw mandrel rotates and drives the screw mandrel of clamp system to coordinate Part moves, and screw mandrel drives screw mandrel counterpart to do linear translational motion together with clamp system, and clamp system assists on two slide rails Translational motion, finally allows the clamp assembly of clamp system clamp the cam of the outside relevant position of steel pipe；Torsion motor is by torsional forces Transmission is to change speed gear box, by being transmitted successively by torsional forces after change speed gear box speed change to turning round torsion torque sensor, front end three-jaw, front end Three-jaw relies on three-jaw actuating unit clamping penstock installation front end, front end；The clamp assembly outside corresponding positions of clamping steel pipe of clamp system The cam put, three-jaw clamping penstock installation front end in front end also applies torsional forces, revolution torsion sensing to clamping penstock installation front end Device realizes carrying out torsional forces detection between steel pipe and the cam of relevant position of compound cam shaft-like work, turns round torsion torque sensor To detect that between steel pipe and the cam of relevant position, torsional forces transmits to Laser Jet barcode scanning device；
E4, steel pipe rear end to compound cam shaft-like work carry out torsional forces detection, the steel pipe front end of compound cam shaft-like work Being to need higher intensity requirement, required for the steel pipe rear end of compound cam shaft-like work, torsional forces requires less than compound cam shaft-like work Steel pipe front end；Clamp system translation motor quits work, and torsional forces is transmitted to change speed gear box by torsion motor, is become by change speed gear box Being transmitted successively by torsional forces after speed to turning round torsion torque sensor, front end three-jaw, front end three-jaw relies on front end three-jaw actuating unit Clamping penstock installation front end, after tail end three-jaw actuating unit clamps penstock installation to tail end three-jaw applying driving force by tail end three-jaw End；Tail end three-jaw clamping penstock installation rear end, clamping penstock installation front end is also applied by front end three-jaw clamping penstock installation front end Torsional forces, to realize carrying out the steel pipe rear end of compound cam shaft-like work the purpose of torsional forces detection, revolution torsion torque sensor will Detect that steel pipe rear end torsional forces transmits to Laser Jet barcode scanning device；
E5, by combined camshaft workpiece grabbing and it is transported to Laser Jet by the second robot arm of the second robot Barcode scanning device carries out barcode scanning, and Laser Jet barcode scanning device is by the pressure size of steel pipe front and back end detected by revolution torsion torque sensor Pressure size data between data and steel pipe and the cam of relevant position is stored in the corresponding volume of this compound cam shaft-like work In the data base of code；
F, the storage of combined camshaft and hauling operation: by the second robot arm combined camshaft of the second robot Workpiece grabbing is also transported to finished product storage conveying arrangement, and compound cam shaft-like work is stored and turns by finished product storage conveying arrangement Transport；Laser Jet barcode scanning device is by extremely control transmitted along to the coding corresponding to this compound cam shaft-like work and coded data storehouse So that the later stage inquires about in system processed.
The present invention compared with the prior art, has the following advantages and beneficial effect:
(1) present invention can to the tension force size in combined camshaft production process, end fittings install pressure big Torsional forces size in the detection of little, moment of torsion detects in real time and the data that detect are stored in corresponding with combined camshaft In stamp coding, so just could be aware that combined camshaft produced by the information in inquiry combined camshaft coded data storehouse Indices in journey, this advantageously combined camshaft subsequent quality is followed the trail of, failure problems is investigated and crudy promotes.
(2) the swelling machine of the present invention can detect swelling steel ball swelling cam in compound cam shaft-like work steel tube inner hole Whether tension force size, can go out cam with intuitive judgment and be combined with compound cam shaft-like work steel pipe and put in place, and this just can be intuitively Reflect the quality of production of combined camshaft；And achieve lookup and the eliminating of combined camshaft fault, can instruct simultaneously And improve the quality of production of combined camshaft.
(3) the push rod B end of end fittings of the present invention assembling device is installed and compound cam shaft-like work steel pipe left end pipe The first end assembly parts that mouth matches, are provided with and compound cam shaft-like work steel pipe right-hand member pipe on the second end assembling termination The second end assembly parts that mouth matches, so when assembling hydraulic oil cylinder driving push rod B and stretching out motion, a left side for compound cam shaft-like work End coordinates installation with first end assembly parts, and the right-hand member of compound cam shaft-like work coordinates installation with the second end assembly parts simultaneously, Which achieves the purpose of end, compound cam shaft-like work two ends mounting end assembly parts simultaneously, improve production efficiency.
(4) torque tester of the present invention can by step successively to the front end of combined camshaft, cam and steel pipe it Between, the rear end of combined camshaft carry out moment of torsion detection respectively, product whole to combined camshaft can be realized the most easily All torsion torque quickly detects.Applied by the torsional forces of torque motor, allow clamp system clamp or not clamp combined camshaft phase Answer position easily to realize each location fixes torsion-testing of combined camshaft, each position of combined camshaft is applied with moment of torsion After power, each position of combined camshaft is detected, it can be determined that whether the quality going out each position of combined camshaft reaches Requirement.Revolution torsion torque sensor can detect the torsional forces size of change speed gear box output, and to each position moment of torsion of combined camshaft Power output size carries out detecting and record, in order to the Quality estimation after detection, and also can be that subsequent combination camshaft carries High product quality provides test basis and directive function.
Accompanying drawing explanation
Fig. 1 is the structural representation of assembly system of the present invention；
Fig. 2 is the structural representation of control system of the present invention, constant temperature air conditioning system and housing；
Fig. 3 is the structural representation of kludge of the present invention；
Fig. 4 is the structural representation of swelling machine of the present invention；
Fig. 5 is the structural representation of end fittings of the present invention assembling device；
Fig. 6 is the structural representation of torque tester of the present invention.
Wherein, entitled corresponding to the reference in accompanying drawing:
1-kludge, 2-steel pipe feed bin, 3-parts feed bin, 4-the first robot, 41-the first robot Arm working region, 5-swelling machine, 6-Laser Jet barcode scanning device, 7-end fittings assembling device, 8-torsion detection dress Putting, 9-finished product storage conveying arrangement, 10-the second robot, 101-the second robot arm working region, 11-controls system System, 12-constant temperature air conditioning system, 13-housing, 14-lifting motor, 15-fuselage C, 16-elevating screw, 17-electric rotating Machine, 18-chuck, 19-device for dotting, 20-parts assembling positioning table, 51-swelling hydraulic cylinder, 52-push rod A, 53- Swelling steel ball, 54-compound cam shaft-like work, 55-hold-down mechanism, 56-pressure transducer A, 57-fuselage A, 571-hydraulic pressure Cylinder support arm, 572-swelling support arm, 573-workpiece support, 574-compresses support arm, 58-steel ball recovery and rinsing device, 71- Assembling oil cylinder, 72-pressure transducer B, 73-push rod B, 74-first end assembly parts, 76-the second end assembly parts, 77- Work piece holder, 78-fuselage B, 781-cylinder support, 782-push rod coordinates bearing, 783-the second end assembling termination, 79- Fixture slide rail, 81-torsion motor, 82-change speed gear box, 83-turns round torsion torque sensor, 84-front end three-jaw, 85-clamping machine Structure, 851-slide block, 86-slide rail, 87-screw mandrel, 88-clamp system translation motor, 881-drive mechanism, 89-tail end three Pawl, 54-compound cam shaft-like work, 541-steel pipe, 542-cam.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is described in further detail:
Embodiment
As shown in Fig. 1～Fig. 5, a kind of combined camshaft automatic setup system, including the first robot 4 and the second robot 10, the peripheral region cooperation of the first robot 4 is provided with kludge 1, steel pipe feed bin 2, parts feed bin 3, and steel pipe feed bin 2 is used for containing Putting the steel pipe 541 needed for combined camshaft assembles, parts feed bin 3 is for holding the cam needed for combined camshaft assembles 542, kludge 1 assembles combined camshaft first product for installing several cams outside steel pipe；Around second robot 10 Region coordinates the swelling machine 5 that is provided with, Laser Jet barcode scanning device 6, end fittings assembling device 7, torque tester 8 and finished product Storage conveying arrangement 9, swelling machine 5 in the steel pipe 541 of combined camshaft first product by swelling steel ball 53 allow steel pipe 541 with The mutual swelling of cam 542 coordinates, and end fittings assembling device 7 is for the steel pipe 541 two ends mouth of pipe at combined camshaft first product Place's assembling end fittings respectively forms combined camshaft finished product, and torque tester 8 is for the steel to combined camshaft finished product Torsional forces between pipe 541 end and steel pipe 541, cam 542 detects, and finished product storage conveying arrangement 9 is used for storing torsion Combined camshaft finished product after the detection of square power and transport combined camshaft finished product, Laser Jet barcode scanning device 6 is for combination Tension force in Camshaft Production, end fittings install pressure, the torsional forces of combined camshaft moment of torsion detection carries out storing also Corresponding combined camshaft carries out stamp, barcode scanning operation；There is in first robot 4 first robot arm, the first robot The working region of arm is the first robot arm working region 41, the first robot arm working region 41 of the first robot 4 Cover kludge 1, steel pipe feed bin 2, parts feed bin 3,5 four parts of swelling machine；In second robot 10, there is the second machine Device human arm, the working region of the second robot arm is the second robot arm working region 101, the of the second robot 10 Two robot arm working regions 101 cover swelling machine 5, Laser Jet barcode scanning device 6, end fittings assembling device 7, torsion Detection device 8, finished product storage 9 five parts of conveying arrangement；Swelling machine 5, end fittings assembling device 7, torque tester 8 It is connected with Laser Jet barcode scanning device 6 telecommunication respectively.
Currently preferred kludge 1 includes lifting motor 14, fuselage C15, electric rotating machine 17, device for dotting 19 and assembles Part assembling positioning table 20, fuselage C15 top is installed and is provided with lifting motor 14, lifting motor 14 power output shaft is provided with liter Fall screw mandrel 16, electric rotating machine 17 sidepiece is provided with base, and the base power cooperation of electric rotating machine 17 is installed on elevating screw 16, rises Fall screw mandrel 16 is for driving base and the electric rotating machine 17 oscilaltion campaign of electric rotating machine 17, and electric rotating machine 17 end is provided with For clamping the chuck 18 of steel pipe 541, bottom fuselage C15, it is provided with the parts assembling location corresponding with chuck 18 position Platform 20, fuselage C15 is provided with the device for dotting 19 being positioned at above parts assembling positioning table 20, device for dotting 20 and chuck 18 Position is corresponding, and device for dotting 20 connects gets driving cylinder ready.
Currently preferred swelling machine 5 includes fuselage A57, swelling hydraulic cylinder 51, hold-down mechanism 55 and pressure transducer A56, fuselage A57 install the most successively at top and are provided with hydraulic cylinder support arm 571, swelling support arm 572 and compress support arm 574, liquid Being provided with swelling hydraulic cylinder 51 on cylinder pressure support arm 571, swelling hydraulic cylinder 51 has the push rod relying on hydraulic-driven stretching motion A52, push rod A52 end sequentially passes through hydraulic cylinder support arm 571, swelling support arm 572 contacts with compound cam shaft-like work 54, compresses and props up Hold-down mechanism 55 is installed on arm 574, compound cam shaft-like work 54 clamping be installed on push rod A52 end and hold-down mechanism 55 it Between, on hold-down mechanism 55, correspondence is provided with the pressure transducer A56 for detecting hold-down mechanism 55 thrust size, push rod A52 Being provided with swelling steel ball 53 between steel pipe 541 mouth of pipe of end and compound cam shaft-like work 54, the bar footpath of push rod A52 is less than combination Steel pipe 541 diameter of bore of camshaft workpiece 54, the diameter of swelling steel ball 53 is than steel pipe 541 endoporus of compound cam shaft-like work 54 Diameter big 0.1～0.3mm, fuselage A57 is provided with the steel ball recovery and rinsing device 8 of corresponding compound cam shaft-like work 54；Pressure passes Sensor A56 is connected with Laser Jet barcode scanning device 6 telecommunication.
Currently preferred end fittings assembling device 7 includes assembling oil cylinder 71, pressure transducer B72 and fuselage B78, Fuselage B78 top is installed the most successively and is provided with cylinder support 781, push rod coordinates bearing 782, the second end to assemble termination 783, cylinder support 781 is provided with assembling oil cylinder 71, assembling oil cylinder 71 has the piston rod relying on hydraulic-driven stretching motion, Piston rod end connects has the connection of pressure transducer B72, pressure transducer B72 end to have push rod B73, and push rod coordinates bearing 782 Being provided with push rod stretching motion hole, push rod B73 end coordinates the push rod stretching motion hole of bearing 782 through push rod；Fuselage B78 pushes up Portion is additionally provided with fixture slide rail 79, is slidably fitted with several work piece holders 77 on fixture slide rail 79, and work piece holder 77 clamps Being provided with compound cam shaft-like work 54, fixture slide rail 79 is respectively positioned on push rod and coordinates bearing 782, second with compound cam shaft-like work 54 Between assembling termination, end 783；Push rod B73 end activity is equipped with the steel pipe 541 left end mouth of pipe with compound cam shaft-like work 54 Match the first end assembly parts 74 installed, and on the second end assembling termination 783, activity is equipped with and compound cam shaft-like work The steel pipe 541 right-hand member mouth of pipe of 54 match install the second end assembly parts 76.
Currently preferred torque tester 8 includes torsion motor 81, change speed gear box 82, revolution torsion torque sensor 83, front End three-jaw 84, tail end three-jaw 89, clamp system 85, slide rail 86, screw mandrel 87 and clamp system translation motor 88, torsion motor 81 Clutch end is connected with the power intake power of change speed gear box 82, the clutch end of change speed gear box 82 and revolution torsion torque sensor 83 power connect, and revolution torsion torque sensor 83 is connected with front end three-jaw 84 power, and the steel pipe 541 of compound cam shaft-like work 54 has Installing front end and install rear end, the installation front end cooperation of steel pipe 541 is installed in front end three-jaw 84, tail end three-jaw 89 and tail end three Pawl actuating unit power connects, and the installation rear end cooperation of steel pipe 541 is installed in tail end three-jaw 89；The clamping group of clamp system 85 Part matches with compound cam shaft-like work 54 position, and clamp system 85 end is provided with and coordinates, with slide rail 86, the slide block being slidably installed 851, clamp system translation motor 88 drives screw mandrel 87 to rotate by drive mechanism 881, and clamp system 85 is provided with and screw mandrel 87 Match the screw mandrel counterpart of transmission, and screw mandrel 87 is used for driving screw mandrel counterpart to do linear translational motion together with clamp system 85； Drive mechanism 881 is driving belt, the power output shaft of clamp system translation motor 88 is provided with belt pulley A, on screw mandrel 87 Belt pulley B is installed, between belt pulley A and belt pulley B, is connected with drive mechanism 881.
As shown in Figure 4, fuselage A57 top is provided with two workpiece support 573, and one of them workpiece support 573 is close Swelling support arm 572 is arranged, and another workpiece support 573 is arranged near compressing support arm 574；Workpiece support 573 top is provided with Two support jig arm, and two support jig arm of workpiece support 573 are used for supporting compound cam shaft-like work 54；Steel ball reclaims clear Cleaning device 58 includes steel ball collection box, is contained with rinse water, and is provided with some in steel ball collection box in steel ball collection box Individual cleaning shower nozzle, steel ball collection box and compound cam shaft-like work 54 position are to being correspondingly arranged.
As it is shown in figure 5, be slidably fitted with two work piece holders 77, one of them workpiece on the fixture slide rail 79 of fuselage B78 Fixture 77 is arranged near first end assembly parts 74, and another work piece holder 77 is arranged near the second end assembly parts 76, two The common clamp standoff of work piece holder 77 is in the two ends, left and right of compound cam shaft-like work 54；Work piece holder 77 top has two supports Jig arm, two support jig arm of work piece holder 77 are used for clamping compound cam shaft-like work 54.
As shown in Figure 6, assembly system of the present invention also includes that fuselage, the both side ends of clamp system 85 are provided with a cunning respectively Block 851, the quantity of slide rail 86 is two, and two slide rails 86 lay respectively at clamp system 85 two side ends, two of clamp system 85 Slide block 851 coordinates one by one and is slidably mounted in two slide rails 86；The end, two ends of screw mandrel 87 is separately installed with rotary shaft bearing, turns round Force motor 81, change speed gear box 82, slide rail 86 and two rotary shaft bearings are fixedly installed on fuselage respectively；The length of screw mandrel 87 and cunning The length of rail 86 matches, and the length of screw mandrel 87 is longer than the length of compound cam shaft-like work 54.
As in figure 2 it is shown, assembly system of the present invention also includes control system 11, constant temperature air conditioning system 12 and housing 13, housing 13 are provided with control system 11 and constant temperature air conditioning system 12, and constant temperature air conditioning system 12 has six constant temperature air conditionings and goes out pipe, six perseverances Temperature air-conditioning goes out pipe and examines with kludge 1, swelling machine 5, Laser Jet barcode scanning device 6, end fittings assembling device 7, torsion respectively Survey device 8, finished product storage conveying arrangement 9 one_to_one corresponding is arranged；Six constant temperature air conditionings of constant temperature air conditioning system 12 go out pipe and are respectively Kludge 1, swelling machine 5, Laser Jet barcode scanning device 6, end fittings assembling device 7, torque tester 8, finished product storage Conveying arrangement 9 cooling processes.Control system 11 fills with kludge the 1, first robot 4, swelling machine 5, Laser Jet barcode scanning respectively Put 6, end fittings assembling device 7, torque tester 8, finished product storage conveying arrangement the 9, second robot 10 one_to_one corresponding Electrical connection, control system 11 is respectively equipped with control kludge the 1, first robot 4, swelling machine 5, Laser Jet barcode scanning device 6, End fittings assembling device 7, torque tester 8, the control of all parts of finished product storage conveying arrangement the 9, second robot 10 System switch, so can realize filling kludge the 1, first robot 4, swelling machine 5, Laser Jet barcode scanning by control system 11 Put 6, end fittings assembling device 7, torque tester 8, all parts of finished product storage conveying arrangement the 9, second robot 10 Switching manipulation.
A kind of combined camshaft automatic assembly method, its assembly method is as follows:
A, steel pipe and the cam assembling operation of combined camshaft: its operational method is as follows:
A1, the first robot arm of the first robot 4 capture the steel needed for combined camshaft assembles from steel pipe feed bin 2 Steel pipe 541 is also installed on the chuck 18 of electric rotating machine 17 end by pipe 541；First robot arm of the first robot 4 from Parts feed bin 3 captures the cam 542 needed for combined camshaft assembles and cam 542 is positioned over parts assembling calmly On the platform 20 of position；The lifting motor 14 of kludge 1 drives elevating screw 16 descending motion, elevating screw 16 be rotated motor 17, Chuck 18 descending motion, chuck 18 clamps steel pipe 541 together descending motion；
A2, first chuck 18 clamp steel pipe 541 and drop to extreme lower position, and now steel pipe 541 is placed through parts dress Join the cam 542 of positioning table 20, make steel pipe 541 cam installation site point topmost corresponding with device for dotting 20 position, get ready Steel pipe 541 cam 542 installation site point topmost is got ready operation, so under getting driving cylinder moving effect ready by device 20 Rear chuck 18 clamps steel pipe 541 to be continued to decline, and is positioned at parts when the top cam installation site point of steel pipe 541 drops to Assemble cam 542 position of positioning table 20 and make cam 542 location and installation in the top cam installation site of steel pipe 541 Point is outside；
A3, the lifting motor 14 of kludge 1 drive elevating screw 16 to rise reseting movement, and elevating screw 16 is rotated electricity Machine 17, chuck 18 rise reseting movement, and chuck 18 clamps steel pipe 541 and together rises reseting movement；First machine of the first robot 4 Device human arm captures the cam 542 needed for combined camshaft assembles from parts feed bin 3 and cam 542 is positioned over assembling On part assembling positioning table 20；The lifting motor 14 of kludge 1 drives elevating screw 16 descending motion, and elevating screw 16 drives rotation Rotating motor 17, chuck 18 descending motion, chuck 18 clamps steel pipe 541 together descending motion, allows steel pipe 541 the second cam topmost Installation site point is corresponding with device for dotting 20 position, device for dotting 20 get ready driving cylinder moving effect under to steel pipe 541 Topmost the second cam 542 installation site point carries out getting operation ready, and then chuck 18 clamps steel pipe 541 continuation decline, works as steel pipe The top the second cam installation site point of 541 drop to be positioned at parts assembling positioning table 20 cam 542 position also Make cam 542 location and installation outside the top the second cam installation site point of steel pipe 541；Step side according to step A3 Method and principle install all cams 542 outside steel pipe 541 the most successively；
A4, the lifting motor 14 of kludge 1 drive elevating screw 16 to rise reseting movement, and elevating screw 16 is rotated electricity Machine 17, chuck 18 rise reseting movement, and chuck 18 clamps steel pipe 541 and together rises reseting movement；
B, combined camshaft swelling operation: the combined camshaft of step A is passed through the first robot of the first robot 4 Arm crawls out from kludge 1 and is installed between the push rod A52 end of swelling machine 5 and hold-down mechanism 55, swelling hydraulic cylinder 51 drive push rod A52 to stretch out motion, and push rod A52 moves right and promote swelling steel ball 53 from compound cam shaft-like work 54 left end pipe Mouth enters in the steel tube inner hole of compound cam shaft-like work 54, and swelling hydraulic cylinder 51 drives push rod A52 to continue stretch out motion and promote Swelling steel ball 53 moves to right-hand member from left end in the steel tube inner hole of compound cam shaft-like work 54, finally from compound cam shaft-like work The steel tube inner hole right-hand member of 54 falls in steel ball recovery and rinsing device 58；The swelling of pressure transducer A56 detection hold-down mechanism 55 Tension force data are also transmitted to Laser Jet barcode scanning device 6 by power size；
C, combined camshaft stamp operation: be will be located in swelling machine 5 by the second robot arm of the second robot 10 Compound cam shaft-like work 54 crawl out and be positioned on Laser Jet barcode scanning device 6, compound cam shaft-like work 54 is carried out beat Code operation, this coding corresponding to compound cam shaft-like work 54 is printed on compound cam shaft-like work 54, and Laser Jet barcode scanning fills Put 6 these compound cam shaft-like works that in storing step B, pressure transducer A56 transmits in the data base that this coding is named Tension force size data in 54 production processes；
D, the end fittings assembling work of combined camshaft: will step by the second robot arm of the second robot 10 Compound cam shaft-like work 54 in rapid C is clamped by two work piece holders 77 of end fittings assembling device 7；First pushing away First end assembly parts 74 are installed in the right-hand member end activity of bar B73, and movable on the left surface of the second end assembling termination 783 Installing the second end assembly parts 76, start assembling oil cylinder 71 and work, assembling oil cylinder 71 drives piston rod, pressure transducer successively B72, push rod B73 horizontal rectilinear motion to the right, the first end assembly parts 74 that push rod B73 right-hand member end is installed insert and are installed on group Closing in the steel pipe 541 left end mouth of pipe of camshaft workpiece 54, then push rod B73 right-hand member end continues to move right, and push rod B73 promotes 54, two work piece holders 77 of compound cam shaft-like work move right together, then make the steel pipe 541 of compound cam shaft-like work 54 The right-hand member mouth of pipe contacts with the second end assembly parts 76 of the second end assembling termination 783 and coordinates insertion to install；Push rod B73 pushes away Dynamic 54, two work piece holders 77 of compound cam shaft-like work continue to move right together, until the steel pipe of compound cam shaft-like work 54 Till the 541 two ends mouths of pipe have been respectively mounted end fittings；Pressure transducer B72 detection assembling oil cylinder 71 gives the size of pressure also Pressure size data transmits to Laser Jet barcode scanning device 6；Second robot arm of the second robot 10 is by compound cam Shaft-like work 54 captures and is transported to Laser Jet barcode scanning device 6 and carries out barcode scanning, and Laser Jet barcode scanning device 6 is by pressure transducer Pressure size data detected by B72 is stored in the data base of this corresponding coding of compound cam shaft-like work 54；
E, the torsional forces detection operation of combined camshaft: its detection method is as follows:
E1, by the second robot arm of the second robot 10 by compound cam shaft-like work 54 coordinate be installed on front end three Between pawl 84 and tail end three-jaw 89；The steel pipe 541 of compound cam shaft-like work 54 is installed front end cooperation and is installed on front end three-jaw 84 In, by front end three-jaw actuating unit, front end three-jaw 84 applied driving force and clamp steel pipe 541 by front end three-jaw 84 front end is installed； The steel pipe 541 of compound cam shaft-like work 54 is installed rear end cooperation and is installed in tail end three-jaw 89, by tail end three-jaw actuating unit Tail end three-jaw 89 applies driving force clamp steel pipe 541 by tail end three-jaw 89 rear end is installed；
E2, steel pipe 541 front end to compound cam shaft-like work 54 carry out torsional forces detection: start clamp system translation motor 88 and output power to screw mandrel 87 end by drive mechanism 881, screw mandrel 87 rotates and drives the screw mandrel of clamp system 85 to join Component moves, and screw mandrel 87 drives screw mandrel counterpart to do linear translational motion together with clamp system 85, and clamp system 85 is two cunnings Additional translational motion on rail 86, finally allows the clamp assembly of clamp system 85 clamp steel pipe 541 front end；Starting torsion motor 81 will Torsional forces transmission to change speed gear box 82, by after change speed gear box 82 speed change, torsional forces is transmitted successively to revolution torsion torque sensor 83, Front end three-jaw 84, front end three-jaw 84 relies on front end three-jaw actuating unit clamping steel pipe 541 to install front end；The clamping of clamp system 85 Assembly clamping steel pipe 541 front end, front end three-jaw 84 clamps steel pipe 541 and installs front end and clamping steel pipe 541 is installed front end applying Torsional forces, revolution torsion torque sensor 83 realizes steel pipe 541 front end of compound cam shaft-like work 54 is carried out torsional forces detection, revolution Torsion torque sensor 83 will detect that steel pipe 541 front end torsional forces transmits to Laser Jet barcode scanning device 6；
E3, between steel pipe 541 and the cam 542 of compound cam shaft-like work 54 install coordinate compactness to carry out torsional forces inspection Survey: clamp system translation motor 88 outputs power to screw mandrel 87 end by drive mechanism 881, and screw mandrel 87 rotates and drives folder The screw mandrel counterpart motion of tight mechanism 85, screw mandrel 87 drives screw mandrel counterpart to do linear translational motion together with clamp system 85, folder The additional translational motion on two slide rails 86 of tight mechanism 85, finally allows the clamp assembly of clamp system 85 clamp steel pipe 541 outside The cam 542 of relevant position；Torsion motor 81 by torsional forces transmission to change speed gear box 82, by after change speed gear box 82 speed change by moment of torsion Power is transmitted successively to revolution torsion torque sensor 83, front end three-jaw 84, and front end three-jaw 84 relies on front end three-jaw actuating unit clamping steel Front end installed by pipe 541；The cam 542 of the outside relevant position of clamp assembly clamping steel pipe 541 of clamp system 85, front end three-jaw 84 Clamping steel pipe 541 is installed front end and clamping steel pipe 541 is installed front end applying torsional forces, and revolution torsion torque sensor 83 realizes group Close and between steel pipe 541 and the cam 542 of relevant position of camshaft workpiece 54, carry out torsional forces detection, turn round torsion torque sensor 83 To detect between the cam 542 of steel pipe 541 and relevant position that torsional forces transmission is in Laser Jet barcode scanning device 6；
E4, steel pipe 541 rear end to compound cam shaft-like work 54 carry out torsional forces detection, the steel of compound cam shaft-like work 54 Pipe 541 front end is to need higher intensity requirement, and required for steel pipe 541 rear end of compound cam shaft-like work 54, torsional forces requires to be less than Steel pipe 541 front end of compound cam shaft-like work 54；Clamp system translation motor 88 quits work, and torsional forces is passed by torsion motor 81 Transport to change speed gear box 82, by being transmitted successively by torsional forces after change speed gear box 82 speed change to revolution torsion torque sensor 83, front end three-jaw 84, front end three-jaw 84 relies on front end three-jaw actuating unit clamping steel pipe 541 to install front end, and tail end three-jaw actuating unit is to tail end three Pawl 89 applies driving force and clamps steel pipe 541 by tail end three-jaw 89 and install rear end；Tail end three-jaw 89 clamps steel pipe 541 and installs rear end, Front end three-jaw 84 clamps steel pipe 541 and installs front end and clamping steel pipe 541 is installed front end applying torsional forces, convex to realize combination Steel pipe 541 rear end of wheel shaft-like work 54 carries out the purpose of torsional forces detection, after revolution torsion torque sensor 83 will detect steel pipe 541 End torsional forces transmits to Laser Jet barcode scanning device 6；
E5, by the second robot arm of the second robot 10 compound cam shaft-like work 54 captured and be transported to laser Stamp barcode scanning device 6 carries out barcode scanning, before and after Laser Jet barcode scanning device 6 will turn round steel pipe 541 detected by torsion torque sensor 83 Pressure size data between pressure size data and the cam 542 of steel pipe 541 and relevant position of end is stored in this combination In the data base of the corresponding coding of camshaft workpiece 54；
F, the storage of combined camshaft and hauling operation: by the second robot arm compound cam of the second robot 10 Shaft-like work 54 captures and is transported to finished product storage conveying arrangement 9, and compound cam shaft-like work 54 is carried out by finished product storage conveying arrangement 9 Store and transport defeated；Laser Jet barcode scanning device 6 is by the coding corresponding to this compound cam shaft-like work 54 and coded data storehouse Transmitted along in control system 11 so that later stage inquiry.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.

Claims (10)

1. a combined camshaft automatic setup system, it is characterised in that: include the first robot (4) and the second robot (10), the cooperation of described first robot (4) peripheral region is provided with kludge (1), steel pipe feed bin (2), parts feed bin (3), Described steel pipe feed bin (2) is for holding the steel pipe (541) needed for combined camshaft assembles, and described parts feed bin (3) is used for Holding the cam (542) needed for combined camshaft assembles, described kludge (1) is for installing several cams dress outside steel pipe Allot combined camshaft first product；Described second robot (10) peripheral region coordinates the swelling machine (5) that is provided with, Laser Jet barcode scanning dress Put (6), end fittings assembling device (7), torque tester (8) and finished product storage conveying arrangement (9), described swelling machine (5) for allowing steel pipe (541) and cam (542) phase by swelling steel ball (53) in the steel pipe (541) of combined camshaft first product Swelling coordinates mutually, and described end fittings assembling device (7) is at steel pipe (541) the two ends mouth of pipe of combined camshaft first product Assembling end fittings forms combined camshaft finished product respectively, and described torque tester (8) is for combined camshaft finished product Steel pipe (541) end and steel pipe (541), cam (542) between torsional forces detect, described finished product storage transport dress Put (9) combined camshaft finished product after storing torsional forces detection and transport combined camshaft finished product, described Laser Jet Barcode scanning device (6) is for installing pressure, the inspection of combined camshaft moment of torsion to the tension force in combined camshaft production, end fittings The torsional forces surveyed carries out storing and corresponding combined camshaft carries out stamp, barcode scanning operation；Is had on described first robot (4) One robot arm, the working region of the first robot arm is the first robot arm working region (41), the first robot (4) the first robot arm working region (41) covers kludge (1), steel pipe feed bin (2), parts feed bin (3), swelling (5) four parts of machine；On described second robot (10), there is the second robot arm, the working region of the second robot arm It is the second robot arm working region (101), the second robot arm working region (101) of described second robot (10) Cover swelling machine (5), Laser Jet barcode scanning device (6), end fittings assembling device (7), torque tester (8), finished product Storage (9) five parts of conveying arrangement；Described swelling machine (5), end fittings assembling device (7), torque tester (8) point It is not connected with Laser Jet barcode scanning device (6) telecommunication.
2. according to the combined camshaft automatic setup system described in claim 1, it is characterised in that: described kludge (1) includes Lifting motor (14), fuselage C (15), electric rotating machine (17), device for dotting (19) and parts assembling positioning table (20), described Fuselage C (15) top is installed and is provided with lifting motor (14), and lifting motor (14) power output shaft is provided with elevating screw (16), Described electric rotating machine (17) sidepiece is provided with base, and the base power cooperation of described electric rotating machine (17) is installed on elevating screw (16) On, elevating screw (16) is used for driving the base of electric rotating machine (17) and electric rotating machine (17) oscilaltion campaign, described rotation Rotating motor (17) end is provided with the chuck (18) for clamping steel pipe (541), is provided with and chuck (18) position in fuselage C (15) bottom Putting corresponding parts assembling positioning table (20), described fuselage C (15) is provided with and is positioned at parts assembling positioning table (20) device for dotting (19) of top, described device for dotting (20) is corresponding with chuck (18) position, and device for dotting (20) connects Get driving cylinder ready.
3. according to the combined camshaft automatic setup system described in claim 1, it is characterised in that: described swelling machine (5) includes Fuselage A (57), swelling hydraulic cylinder (51), hold-down mechanism (55) and pressure transducer A (56), described fuselage A (57) top is from a left side Install successively to the right side and be provided with hydraulic cylinder support arm (571), swelling support arm (572) and compress support arm (574), described hydraulic cylinder support arm (571) being provided with swelling hydraulic cylinder (51) on, swelling hydraulic cylinder (51) has the push rod A relying on hydraulic-driven stretching motion (52), described push rod A (52) end sequentially passes through hydraulic cylinder support arm (571), swelling support arm (572) and compound cam shaft-like work (54) contact, described compression support arm (574) is provided with hold-down mechanism (55), and the clamping of described compound cam shaft-like work (54) is installed Between push rod A (52) end and hold-down mechanism (55), the upper correspondence of described hold-down mechanism (55) is provided with for detecting compacting machine The steel pipe of the pressure transducer A (56) of structure (55) thrust size, described push rod A (52) end and compound cam shaft-like work (54) (541) being provided with swelling steel ball (53) between the mouth of pipe, the bar footpath of described push rod A (52) is less than the steel of compound cam shaft-like work (54) Pipe (541) diameter of bore, the diameter of described swelling steel ball (53) is than steel pipe (541) diameter of bore of compound cam shaft-like work (54) Big 0.1～0.3mm, described fuselage A (57) is provided with steel ball recovery and rinsing device (8) of corresponding compound cam shaft-like work (54)； Described pressure transducer A (56) is connected with Laser Jet barcode scanning device (6) telecommunication.
4. according to the combined camshaft automatic setup system described in claim 1, it is characterised in that: described end fittings is assembled Device (7) includes assembling oil cylinder (71), pressure transducer B (72) and fuselage B (78), and described fuselage B (78) top is from left to right Install successively and be provided with cylinder support (781), push rod coordinates bearing (782), the second end assembling termination (783), and described oil cylinder props up Being provided with assembling oil cylinder (71) on seat (781), assembling oil cylinder (71) has the piston rod relying on hydraulic-driven stretching motion, piston Boom end connects pressure transducer B (72), and pressure transducer B (72) end connects push rod B (73), the cooperation of described push rod Seat (782) is provided with push rod stretching motion hole, and described push rod B (73) end coordinates the push rod of bearing (782) to stretch through push rod Motion hole；Described fuselage B (78) top is additionally provided with fixture slide rail (79), is slidably fitted with several works on fixture slide rail (79) Part fixture (77), the upper clamping of described work piece holder (77) is provided with described compound cam shaft-like work (54), described fixture slide rail (79) it is respectively positioned on push rod to coordinate between bearing (782), the second end assembling termination (783) with compound cam shaft-like work (54)；Institute State push rod B (73) end activity be equipped with steel pipe (541) the left end mouth of pipe with compound cam shaft-like work (54) match install First end assembly parts (74), the upper activity of described the second end assembling termination (783) is equipped with and compound cam shaft-like work (54) Steel pipe (541) the right-hand member mouth of pipe match install the second end assembly parts (76).
5. according to the combined camshaft automatic setup system described in claim 1, it is characterised in that: described torque tester (8) include torsion motor (81), change speed gear box (82), revolution torsion torque sensor (83), front end three-jaw (84), tail end three-jaw (89), Clamp system (85), slide rail (86), screw mandrel (87) and clamp system translation motor (88), the power of described torsion motor (81) is defeated Go out end to be connected with the power intake power of change speed gear box (82), the clutch end of described change speed gear box (82) and revolution torsion sensing Device (83) power connects, and revolution torsion torque sensor (83) is connected with front end three-jaw (84) power, compound cam shaft-like work (54) Steel pipe (541) has installation front end and installs rear end, and the installation front end cooperation of described steel pipe (541) is installed on front end three-jaw (84) In, described tail end three-jaw (89) is connected with tail end three-jaw actuating unit power, and the installation rear end of described steel pipe (541) coordinates installs In tail end three-jaw (89)；The clamp assembly of described clamp system (85) matches with compound cam shaft-like work (54) position, institute State clamp system (85) end to be provided with and coordinate the slide block (851) being slidably installed, described clamp system translation motor with slide rail (86) (88) driving screw mandrel (87) to rotate by drive mechanism (881), described clamp system (85) is provided with and matches with screw mandrel (87) The screw mandrel counterpart of transmission, screw mandrel (87) is used for driving screw mandrel counterpart to do linear translational motion together with clamp system (85)；Institute Stating drive mechanism (881) is driving belt, and the power output shaft of described clamp system translation motor (88) is provided with belt pulley A, described screw mandrel is provided with belt pulley B on (87), is connected with drive mechanism (881) between belt pulley A and belt pulley B.
6. according to the combined camshaft automatic setup system described in claim 3, it is characterised in that: described fuselage A (57) top Being provided with two workpiece support (573), one of them workpiece support (573) is arranged near swelling support arm (572), another work Part supports seat (573) and arranges near compressing support arm (574)；Described workpiece support (573) top is provided with two and supports jig arm, work Part supports two support jig arm of seat (573) and is used for supporting compound cam shaft-like work (54)；Described steel ball recovery and rinsing device (58) include steel ball collection box, steel ball collection box is contained with rinse water, and it is clear to be provided with several in steel ball collection box Washing shower nozzle, described steel ball collection box and compound cam shaft-like work (54) position are to being correspondingly arranged.
7. according to the combined camshaft automatic setup system described in claim 4, it is characterised in that: the folder of described fuselage B (78) Being slidably fitted with two work piece holders (77) on tool slide rail (79), one of them work piece holder (77) is near first end assembly parts (74) arranging, another work piece holder (77) is arranged near the second end assembly parts (76), and two work piece holders (77) are pressed from both sides jointly Hold the two ends, left and right being supported in compound cam shaft-like work (54)；Described work piece holder (77) top has two and supports jig arm, work Two support jig arm of part fixture (77) are used for clamping compound cam shaft-like work (54).
8. according to the combined camshaft automatic setup system described in claim 5, it is characterised in that: also include fuselage, described folder The both side ends of tight mechanism (85) is provided with a slide block (851) respectively, and the quantity of described slide rail (86) is two, two slide rails (86) laying respectively at clamp system (85) two side ends, two slide blocks (851) of clamp system (85) coordinate one by one and are slidably mounted on In two slide rails (86)；The end, two ends of described screw mandrel (87) is separately installed with rotary shaft bearing, described torsion motor (81), change Speed case (82), slide rail (86) and two rotary shaft bearings are fixedly installed on fuselage respectively；The length of described screw mandrel (87) and cunning The length of rail (86) matches, and the length of described screw mandrel (87) is longer than the length of compound cam shaft-like work (54).
9. according to the combined camshaft automatic setup system described in claim 1, it is characterised in that: also include control system (11), constant temperature air conditioning system (12) and housing (13), described housing (13) is provided with control system (11) and constant temperature air conditioning system (12), described constant temperature air conditioning system (12) has six constant temperature air conditionings and goes out pipe, six constant temperature air conditionings go out pipe respectively with kludge (1), swelling machine (5), Laser Jet barcode scanning device (6), end fittings assembling device (7), torque tester (8), finished product Storage conveying arrangement (9) one_to_one corresponding is arranged；Described control system (11) respectively with kludge (1), the first robot (4), swollen Tight machine (5), Laser Jet barcode scanning device (6), end fittings assembling device (7), torque tester (8), finished product storage fortune Defeated device (9), the second robot (10) one_to_one corresponding electrically connect.
10. a combined camshaft automatic assembly method, it is characterised in that: its assembly method is as follows:
A, steel pipe and the cam assembling operation of combined camshaft: its operational method is as follows:
A1, the first robot arm of the first robot (4) capture the steel needed for combined camshaft assembles from steel pipe feed bin (2) Steel pipe (541) is also installed on the chuck (18) of electric rotating machine (17) end by pipe (541)；First machine of the first robot (4) Device human arm captures the cam (542) needed for combined camshaft assembles from parts feed bin (3) and is placed by cam (542) On parts assembling positioning table (20)；The lifting motor (14) of kludge (1) drives elevating screw (16) descending motion, rises Fall screw mandrel (16) is rotated motor (17), chuck (18) descending motion, and chuck (18) clamping steel pipe (541) together declines fortune Dynamic；
A2, first chuck (18) clamping steel pipe (541) drop to extreme lower position, and now steel pipe (541) is placed through parts The cam (542) of assembling positioning table (20), allows steel pipe (541) cam installation site point topmost and device for dotting (20) position phase Correspondence, device for dotting (20) get ready driving cylinder moving effect under to steel pipe (541) cam topmost (542) installation site point Carrying out getting operation ready, then chuck (18) clamping steel pipe (541) continues to decline, when the cam installation position, the top of steel pipe (541) Put a little to drop to and be positioned at cam (542) position of parts assembling positioning table (20) and make cam (542) location and installation Outside the top cam installation site point of steel pipe (541)；
A3, the lifting motor (14) of kludge (1) drive elevating screw (16) to rise reseting movement, and elevating screw (16) drives rotation Rotating motor (17), chuck (18) rise reseting movement, and chuck (18) clamping steel pipe (541) together rises reseting movement；First machine First robot arm of device people (4) capture from parts feed bin (3) combined camshaft assemble needed for cam (542) and Cam (542) is positioned on parts assembling positioning table (20)；The lifting motor (14) of kludge (1) drives elevating screw (16) descending motion, elevating screw (16) is rotated motor (17), chuck (18) descending motion, chuck (18) clamping steel pipe (541) together descending motion, makes steel pipe (541) the second cam installation site point topmost relative with device for dotting (20) position Should, device for dotting (20) get ready driving cylinder moving effect under to steel pipe (541) the second cam (542) installation site topmost Point carries out getting ready operation, and then chuck (18) clamping steel pipe (541) continues to decline, when the top second cam of steel pipe (541) Installation site point drops to and is positioned at cam (542) position of parts assembling positioning table (20) and makes cam (542) fixed Position is installed on outside the top the second cam installation site point of steel pipe (541)；Step method and principle according to step A3 exist Steel pipe (541) is outside installs all cams (542) the most successively；
A4, the lifting motor (14) of kludge (1) drive elevating screw (16) to rise reseting movement, and elevating screw (16) drives rotation Rotating motor (17), chuck (18) rise reseting movement, and chuck (18) clamping steel pipe (541) together rises reseting movement；
B, combined camshaft swelling operation: the combined camshaft of step A is passed through the first robot arm of the first robot (4) Crawl out and be installed between push rod A (52) end of swelling machine (5) and hold-down mechanism (55) from kludge (1), swelling Hydraulic cylinder (51) drives push rod A (52) to stretch out motion, and push rod A (52) moves right and promote swelling steel ball (53) from compound cam Shaft-like work (54) the left end mouth of pipe enters in the steel tube inner hole of compound cam shaft-like work (54), and swelling hydraulic cylinder (51) drives push rod A (52) continue stretch out motion and promote swelling steel ball (53) to move from left end in the steel tube inner hole of compound cam shaft-like work (54) To right-hand member, finally the steel tube inner hole right-hand member from compound cam shaft-like work (54) falls to steel ball recovery and rinsing device (58)；Pressure Force transducer A (56) detects the tension force size of hold-down mechanism (55) and transmits tension force data to Laser Jet barcode scanning device (6) in；
C, combined camshaft stamp operation: be will be located in swelling machine (5) by the second robot arm of the second robot (10) Compound cam shaft-like work (54) crawl out and be positioned on Laser Jet barcode scanning device (6) compound cam shaft-like work (54) Carrying out stamp operation, this coding corresponding to compound cam shaft-like work (54) is printed on compound cam shaft-like work (54), laser Stamp barcode scanning device (6) in the data base that this coding is named in storing step B pressure transducer A (56) transmit should Tension force size data in compound cam shaft-like work (54) production process；
D, the end fittings assembling work of combined camshaft: by the second robot arm of the second robot (10) by step Compound cam shaft-like work (54) in C is clamped by two work piece holders (77) of end fittings assembling device (7)；First First end assembly parts (74) are installed in right-hand member end activity at push rod B (73), and left at the second end assembling termination (783) Movable the second end assembly parts (76) of installing, startup assembling oil cylinder (71) work on side, assembling oil cylinder (71) drives work successively Stopper rod, pressure transducer B (72), push rod B (73) horizontal rectilinear motion to the right, the first end that push rod B (73) right-hand member end is installed Portion's assembly parts (74) insert in steel pipe (541) the left end mouth of pipe being installed on compound cam shaft-like work (54), and then push rod B (73) is right End end continues to move right, and push rod B (73) promotes compound cam shaft-like work (54), two work piece holders (77) to transport the most to the right Dynamic, then make steel pipe (541) the right-hand member mouth of pipe and the second of the second end assembling termination (783) of compound cam shaft-like work (54) End fittings (76) contacts and coordinates insertion to install；Push rod B (73) promotes compound cam shaft-like work (54), two workpiece clamp Tool (77) continues to move right together, until steel pipe (541) the two ends mouth of pipe of compound cam shaft-like work (54) has been respectively mounted end Till assembly parts；Pressure transducer B (72) detection assembling oil cylinder (71) gives the size of pressure and pressure size data transmits extremely In Laser Jet barcode scanning device (6)；Compound cam shaft-like work (54) is captured by the second robot arm of the second robot (10) And be transported to Laser Jet barcode scanning device (6) and carry out barcode scanning, pressure transducer B (72) is examined by Laser Jet barcode scanning device (6) Measure in the data base that pressure size data is stored in the corresponding coding of this compound cam shaft-like work (54)；
E, the torsional forces detection operation of combined camshaft: its detection method is as follows:
E1, by the second robot arm of the second robot (10) by compound cam shaft-like work (54) coordinate be installed on front end three Between pawl (84) and tail end three-jaw (89)；Steel pipe (541) the installation front end of compound cam shaft-like work (54) is coordinated before being installed on In end three-jaw (84), by front end three-jaw actuating unit, front end three-jaw (84) is applied driving force and clamp steel by front end three-jaw (84) Front end installed by pipe (541)；The steel pipe (541) of compound cam shaft-like work (54) is installed rear end cooperation and is installed on tail end three-jaw (89) In, by tail end three-jaw actuating unit, tail end three-jaw (89) is applied driving force and pacify by tail end three-jaw (89) clamping steel pipe (541) Dress rear end；
E2, steel pipe (541) front end to compound cam shaft-like work (54) carry out torsional forces detection: start clamp system translation motor (88) and by drive mechanism (881) outputing power to screw mandrel (87) end, screw mandrel (87) rotates and drives clamp system (85) screw mandrel counterpart motion, screw mandrel (87) drives screw mandrel counterpart to do linear translational motion together with clamp system (85), folder Tight mechanism (85), in the upper additional translational motion of two slide rails (86), finally allows the clamp assembly of clamp system (85) clamp steel pipe (541) front end；Start torsion motor (81) to be transmitted by torsional forces to change speed gear box (82), by turning round after change speed gear box (82) speed change Square power is transmitted successively to turning round torsion torque sensor (83), front end three-jaw (84), and front end three-jaw (84) relies on front end three-jaw engine Structure clamping steel pipe (541) installs front end；Clamp assembly clamping steel pipe (541) front end of clamp system (85), front end three-jaw (84) Clamping steel pipe (541) is installed front end and clamping steel pipe (541) is installed front end applying torsional forces, and revolution torsion torque sensor (83) is real Now steel pipe (541) front end to compound cam shaft-like work (54) carries out torsional forces detection, and revolution torsion torque sensor (83) will detection In to the transmission of steel pipe (541) front end torsional forces to Laser Jet barcode scanning device (6)；
E3, between steel pipe (541) and the cam (542) of compound cam shaft-like work (54) install coordinate compactness to carry out torsional forces Detection: clamp system translation motor (88) outputs power to screw mandrel (87) end by drive mechanism (881), screw mandrel (87) turns Moving and drive the screw mandrel counterpart of clamp system (85) to move, screw mandrel (87) drives screw mandrel counterpart to do together with clamp system (85) Linear translational motion, clamp system (85) in the upper additional translational motion of two slide rails (86), finally allows the folder of clamp system (85) The cam (542) of the outside relevant position of tight assembly clamping steel pipe (541)；Torsional forces is transmitted to change speed gear box by torsion motor (81) (82), by torsional forces being transmitted successively after change speed gear box (82) speed change to turning round torsion torque sensor (83), front end three-jaw (84), Front end three-jaw (84) relies on front end three-jaw actuating unit clamping steel pipe (541) to install front end；The clamp assembly of clamp system (85) The cam (542) of the outside relevant position of clamping steel pipe (541), front end three-jaw (84) clamping steel pipe (541) installs front end and to folder Tight steel pipe (541) is installed front end and is applied torsional forces, and revolution torsion torque sensor (83) realizes the steel to compound cam shaft-like work (54) Carrying out torsional forces detection between pipe (541) and the cam (542) of relevant position, revolution torsion torque sensor (83) will detect steel pipe (541) torsional forces transmission is in Laser Jet barcode scanning device (6) and between the cam (542) of relevant position；
E4, steel pipe (541) rear end to compound cam shaft-like work (54) carry out torsional forces detection, compound cam shaft-like work (54) Steel pipe (541) front end is to need higher intensity requirement, torsional forces required for steel pipe (541) rear end of compound cam shaft-like work (54) Require steel pipe (541) front end less than compound cam shaft-like work (54)；Clamp system translation motor (88) quits work, torsion electricity Torsional forces is transmitted to change speed gear box (82) by machine (81), by after change speed gear box (82) speed change transmitting torsional forces to turning round torsion successively Force transducer (83), front end three-jaw (84), before front end three-jaw (84) relies on front end three-jaw actuating unit clamping steel pipe (541) to install End, after tail end three-jaw (89) applying driving force is installed by tail end three-jaw actuating unit by tail end three-jaw (89) clamping steel pipe (541) End；Tail end three-jaw (89) clamping steel pipe (541) installs rear end, and front end three-jaw (84) clamping steel pipe (541) installs front end and to folder Tight steel pipe (541) is installed front end and is applied torsional forces, to realize turning round steel pipe (541) rear end of compound cam shaft-like work (54) The purpose of square power detection, revolution torsion torque sensor (83) will detect that the torsional forces transmission of steel pipe (541) rear end is swept to Laser Jet In code device (6)；
E5, by the second robot arm of the second robot (10), compound cam shaft-like work (54) is captured and is transported to laser Stamp barcode scanning device (6) carries out barcode scanning, and Laser Jet barcode scanning device (6) will turn round steel pipe detected by torsion torque sensor (83) (541) the pressure size data between the pressure size data of front and back end and the cam (542) of steel pipe (541) and relevant position It is stored in the data base of the corresponding coding of this compound cam shaft-like work (54)；
F, the storage of combined camshaft and hauling operation: by the second robot arm combined camshaft of the second robot (10) Workpiece (54) captures and is transported to finished product storage conveying arrangement (9), and finished product storage conveying arrangement (9) is to compound cam shaft-like work (54) carry out storing and transport defeated；Laser Jet barcode scanning device (6) by the coding corresponding to this compound cam shaft-like work (54) with And coded data storehouse transmitted along in control system (11) so that later stage inquiry.
CN201610761726.6A 2016-08-30 2016-08-30 Combined camshaft automatic setup system and assembly method Active CN106271544B (en)

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CN108000144A (en) * 2017-12-28 2018-05-08 绵阳深度数控科技有限公司 Assembled cam shaft automated assembling system and packaging technology
CN110640462A (en) * 2019-10-11 2020-01-03 珞石（北京）科技有限公司 Automatic assembly system and assembly process for variable-lift assembled camshaft
CN111113003A (en) * 2020-02-21 2020-05-08 浙江致信智控装备有限公司 Warp knitting pan head shaft penetrating and pulling device
CN111266851A (en) * 2020-02-28 2020-06-12 绵阳深度数控科技有限公司 Method for assembling camshaft and cylinder cover
CN111993024A (en) * 2020-08-19 2020-11-27 江苏启尔瑞智能科技有限公司 Forming equipment and method for panel lamp with photo frame structure
CN112643317A (en) * 2020-09-07 2021-04-13 四川德鑫源机器人有限公司 Automatic spoiler mounting device for heat exchanger
CN117300623A (en) * 2023-11-28 2023-12-29 北京精雕科技集团有限公司 Automatic assembling method of turntable assembly, electronic equipment and storage medium

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CN206047527U (en) * 2016-08-30 2017-03-29 绵阳华晨瑞安汽车零部件有限公司 Combined camshaft automatic setup system

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GB2123328B (en) * 1982-05-15 1986-06-11 Mach Tool Engineers A hydraulic torque machine
CN101733632A (en) * 2009-12-23 2010-06-16 钢铁研究总院 Method for manufacturing combined cam shaft
CN105479135A (en) * 2016-01-06 2016-04-13 无锡先驱自动化科技有限公司 Automatic camshaft assembling equipment with detecting device
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CN107052772A (en) * 2017-05-17 2017-08-18 浙江工贸职业技术学院 The coaxial assembly system of magneto-rheological vibration damper piston assembly
CN108000144A (en) * 2017-12-28 2018-05-08 绵阳深度数控科技有限公司 Assembled cam shaft automated assembling system and packaging technology
CN110640462A (en) * 2019-10-11 2020-01-03 珞石（北京）科技有限公司 Automatic assembly system and assembly process for variable-lift assembled camshaft
CN111113003A (en) * 2020-02-21 2020-05-08 浙江致信智控装备有限公司 Warp knitting pan head shaft penetrating and pulling device
CN111266851A (en) * 2020-02-28 2020-06-12 绵阳深度数控科技有限公司 Method for assembling camshaft and cylinder cover
CN111266851B (en) * 2020-02-28 2021-10-22 绵阳深度数控科技有限公司 Method for assembling camshaft and cylinder cover
CN111993024A (en) * 2020-08-19 2020-11-27 江苏启尔瑞智能科技有限公司 Forming equipment and method for panel lamp with photo frame structure
CN112643317A (en) * 2020-09-07 2021-04-13 四川德鑫源机器人有限公司 Automatic spoiler mounting device for heat exchanger
CN117300623A (en) * 2023-11-28 2023-12-29 北京精雕科技集团有限公司 Automatic assembling method of turntable assembly, electronic equipment and storage medium
CN117300623B (en) * 2023-11-28 2024-03-01 北京精雕科技集团有限公司 Automatic assembling method of turntable assembly, electronic equipment and storage medium

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