CN106271544B - 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
CN106271544B
CN106271544B CN201610761726.6A CN201610761726A CN106271544B CN 106271544 B CN106271544 B CN 106271544B CN 201610761726 A CN201610761726 A CN 201610761726A CN 106271544 B CN106271544 B CN 106271544B
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China
Prior art keywords
steel pipe
work
cam shaft
jaw
robot
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CN106271544A (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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    • 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

Abstract

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

Description

Combined camshaft automatic setup system and assembly method
Technical field
The present invention relates to combined camshaft assembling mounting technology field, more particularly to a kind of combined camshaft automatic assembling system System and assembly method.
Background technology
Combined camshaft includes steel pipe and the cam being arranged at outside steel pipe, needs mounting end at the mouth of pipe of steel pipe both ends Assembly parts, conventional art when producing and processing combined camshaft, it is each processing operation station be all often it is separated, it is two neighboring Process between operation station and part conveying is carried out by conveyer belt, can thus take larger processing working space.Also, group The torsional forces size in tension force size, end fittings installation pressure size, moment of torsion detection during conjunction Camshaft Production It can not be detected and be stored in real time, the indices in such combined camshaft production process also can not just store and subsequently Search, this is followed the trail of for combined camshaft subsequent quality, failure problems investigation and processing quality lifting bring many technologies It is difficult.Also there are following 3 technical problems in the processing of conventional combination Camshaft Production：
First point, combined camshaft include steel pipe and the cam that is arranged at outside steel pipe, cam is installed outside steel pipe Afterwards, in order to enable cam is more close, firm with penstock installation structure, steel is often expanded by steel ball in steel tube inner hole Pipe diameter is so that cam is combined more close with steel pipe.In the prior art, often it is left in after steel ball reaming in steel pipe, steel Ball can not recycle reuse, and steel ball can be multiple by steel pipe reaming, its precision can not just meet its requirement, since steel ball is made Valency is higher, if steel ball is stayed in steel pipe, can reduce efficiently using for resource.In conventional art, combined camshaft is in swelling Cheng Zhong, steel ball move in steel tube inner hole, and steel ball is moving to exterior not cams mounted steel tube inner hole part, combined camshaft Swelling resistance it is just smaller；Steel ball is moving to the exterior steel tube inner hole part for being provided with cam, the swelling resistance of combined camshaft Power is with regard to larger.Conventional art can not realize detection combination camshaft swelling drag size, so also more cannot intuitively sentence Break and whether steel ball combines the cam outside steel pipe in place and reach requirement, because combined camshaft swelling drag size can be with 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 It can be detected with showing that steel ball acts on the how many tension force of steel pipe inner wall by cam moment of torsion.Inspection can not be realized in the prior art Survey steel ball swelling cam in steel tube inner hole tension force size, also can not intuitive judgment go out whether cam is attached to steel pipe Position, this just brings many difficulties to the quality of production detection of combined camshaft, and can not record combined camshaft swelling Drag data, also can not just realize combination camshaft trouble shoot with excluding.
Second point, combined camshaft include steel pipe and the cam being arranged at outside steel pipe, and combined camshaft is at steel pipe both ends Mounting end assembly parts are required at the mouth of pipe, combination can just be produced by being provided with end fittings in combined camshaft both ends end Camshaft finished product.In combined camshaft both ends terminal mounting ends portion during assembly parts, conventional art is first the one of combined camshaft By a manually installed end fittings on a end, then again on another end of combined camshaft by manually pacifying Fill another end fittings.Conventional art can not realize combination two ends of camshaft respectively while mounting end assembly parts, Its production efficiency is more low.
Thirdly, combined camshaft includes steel pipe and the cam being arranged at outside steel pipe, and the steel pipe of combined camshaft needs Torsional forces detection is carried out, while torsional forces detection, especially compound cam are also required between the steel pipe and cam of combined camshaft Torsional forces detection between the steel pipe and cam of axis is the important indicator of combined camshaft product quality.The prior art can not pass through One moment of torsion tension detection mechanism realizes the detection of steel pipe torsional forces and the torsional forces detection between steel pipe, cam, traditional moment of torsion Often structure is all more complicated in detection combination camshaft for tension detection mechanism, and torsional forces detection operation is also comparatively laborious, The detection of camshaft each position fast positioning torsional forces can not be realize combination, and conventional torque tension detection mechanism can not be to group Close the torsion that camshaft applies and carry out torsion detection.
The content of the invention
Part in view of the shortcomings of the prior art, it is an object of the invention to provide a kind of combined camshaft automatic assembling System and assembly method, the present invention can be to the tension force size in combined camshaft production process, end fittings installation pressures The data that torsional forces size in power size, moment of torsion detection is detected and detected in real time are stored in opposite with combined camshaft In the stamp coding answered, so it can know that combined camshaft is given birth to by inquiring about the information in combined camshaft coded data storehouse Indices during production, this advantageously combined camshaft subsequent quality tracking, failure problems investigation and processing quality carry 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, first robot Peripheral region coordinates equipped with kludge, steel pipe feed bin, parts feed bin, and the steel pipe feed bin is used to hold combined camshaft group Steel pipe needed for dress, the parts feed bin are used to hold the cam needed for combined camshaft assembling, and the kludge is used for Several cams are installed outside steel pipe and assemble combined camshaft first product；Second robot peripheral region coordinates equipped with swollen Tight machine, Laser Jet barcode scanning device, end fittings assembling device, torque tester and finished product storage conveying arrangement, it is described Swelling machine is used in the steel pipe of combined camshaft first product by steel pipe and the mutual swelling of cam coordinate by swelling steel ball, the end Portion's assembly parts assembling device is used to assemble end fittings formation group respectively at the steel pipe both ends mouth of pipe of combined camshaft first product Camshaft finished product is closed, the torque tester is used between the steel tube end part and steel pipe, cam of combined camshaft finished product Torsional forces be detected, finished product storage conveying arrangement be used to storing combined camshaft finished product after torsional forces detection and Combined camshaft finished product is transported, the Laser Jet barcode scanning device is used for tension force, end dress in being produced to combined camshaft Accessory installation pressure, the torsional forces of combined camshaft moment of torsion detection, which are stored and correspond to combined camshaft, carries out stamp, barcode scanning Operation；There is the first robot arm, the working region of the first robot arm is the first robot in first robot Arm working region, the first robot arm working region covering kludge, steel pipe feed bin, the parts material of the first robot Four storehouse, swelling machine components；There is the second robot arm, the working region of the second robot arm in second robot For the second robot arm working region, the second robot arm working region covering swelling machine of second robot, swash Light stamp barcode scanning device, end fittings assembling device, torque tester, finished product storage five components of conveying arrangement；It is 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 preferable kludge structure technology scheme：The kludge includes lifting motor, fuselage C, electric rotating machine, device for dotting and parts assembling positioning table, the fuselage C tops are equipped with lifting motor, and lifting motor moves Elevating screw is installed, the electric rotating machine sidepiece is equipped with base, and the base power of the electric rotating machine coordinates on power output shaft It is installed on elevating screw, elevating screw is used for base and the electric rotating machine oscilaltion campaign for driving electric rotating machine, described Electric rotating machine end is equipped with the collet for being used for clamping steel pipe, is equipped with and the corresponding parts of clip position in fuselage C bottoms Assemble positioning table, the fuselage C be equipped with positioned at parts assembling positioning table above device for dotting, the device for dotting with Clip position is corresponding, and device for dotting, which is connected with, gets driving cylinder ready.
The present invention provides a kind of preferable swelling machine structure technology scheme：The swelling machine includes fuselage A, swelling hydraulic pressure Installation is equipped with hydraulic cylinder support arm, swelling support arm successively from left to right at the top of cylinder, hold-down mechanism and pressure sensor A, the fuselage A With compress support arm, swelling hydraulic cylinder is installed, swelling hydraulic cylinder has to be stretched fortune by hydraulic-driven on the hydraulic cylinder support arm Dynamic push rod A, the push rod A ends sequentially pass through hydraulic cylinder support arm, swelling support arm is contacted with compound cam shaft-like work, the pressure Hold-down mechanism is installed on tight support arm, the combined camshaft piece-holder is installed between push rod A ends and hold-down mechanism, institute State on hold-down mechanism the corresponding pressure sensor A being provided with for detecting hold-down mechanism thrust size, the push rod A ends with Swelling steel ball is installed, the bar footpath of the push rod A is less than compound cam shaft-like work between the steel pipe nozzle of compound cam shaft-like work Steel tube inner hole diameter, the diameter of the swelling steel ball is bigger 0.1~0.3mm than the steel tube inner hole diameter of compound cam shaft-like work, The fuselage A is equipped with the steel ball recovery and rinsing device of corresponding compound cam shaft-like work；The pressure sensor A and Laser Jet Barcode scanning device telecommunication connects.
The present invention provides a kind of preferable end fittings assembling apparatus structure technical solution：The end fittings dress Include assembling oil cylinder, pressure sensor B and fuselage B with device, installation is equipped with oil cylinder branch successively from left to right at the fuselage B tops Seat, push rod coordinate bearing, the second end assembling termination, are provided with assembling oil cylinder on the cylinder support, assembling oil cylinder have according to By the piston rod of hydraulic-driven stretching motion, piston rod end is connected with pressure sensor B, and pressure sensor B ends are connected with Push rod B, the push rod coordinate bearing to be equipped with push rod stretching motion hole, and the push rod B ends coordinate pushing away for bearing through push rod Bar stretching motion hole；Fixture slide is additionally provided with the top of the fuselage B, several workpiece clamps are slidably fitted with fixture slide Have, clamped on the work piece holder and the compound cam shaft-like work is installed, the fixture slide and compound cam shaft-like work are equal Coordinate positioned at push rod between bearing, the second end assembling termination；The push rod B ends activity is equipped with and compound cam shaft-like work The steel pipe left end mouth of pipe be engaged the first end assembly parts of installation, on the second end assembling termination activity be equipped with and group The steel pipe right end mouth of pipe for closing cam shaft-like work is engaged the second end assembly parts of installation.
The present invention provides a kind of preferable torque tester structure technology scheme：The torque tester includes turning round Force motor, gearbox, revolution torsion sensor, front end three-jaw, tail end three-jaw, clamp system, slide, screw and clamp system are put down Move motor, the power output end of the torsion motor and the power intake power connector of gearbox, the power of the gearbox Output terminal and revolution torsion sensor power connector, revolution torsion sensor and front end three-jaw power connector, combined camshaft work The steel pipe of part has installation front end and installation rear end, and the installation front end of the steel pipe, which coordinates, to be installed in the three-jaw of front end, the tail Three-jaw and tail end three-jaw actuating unit power connector are held, the installation rear end of the steel pipe, which coordinates, to be installed in tail end three-jaw；It is described The clamp assembly of clamp system is engaged with the combined camshaft location of workpiece, and the clamp system end is equipped with to coordinate with slide and slides The sliding block of dynamic installation, the clamp system translation motor drive screw to rotate by transmission mechanism, and the clamp system is equipped with The screw counterpart of transmission is engaged with screw, screw is used to drive screw counterpart to do rectilinear translation fortune together with clamp system It is dynamic；The transmission mechanism is driving belt, and belt pulley A, institute are provided with the power output shaft of the clamp system translation motor State and belt pulley B is installed on screw, transmission mechanism is connected between belt pulley A and belt pulley B.
Preferably, being equipped with two workpiece supports at the top of the fuselage A, one of workpiece support is close to swelling branch Arm is set, another workpiece support is set close to support arm is compressed；Two support clamp arm, work are equipped with the top of the workpiece support Two support clamp arm of part support base are used to support compound cam shaft-like work；The steel ball recovery and rinsing device is returned including steel ball Case is received, ejected wash water is contained with steel ball recycling bins, and several cleaning sprayers, the steel ball are equipped with steel ball recycling bins Recycling bins setting corresponding with the combined camshaft location of workpiece.
Preferably, two work piece holders, one of work piece holder are slidably fitted with the fixture slide of the fuselage B Set close to first end assembly parts, another work piece holder is set close to the second end assembly parts, and two work piece holders are common Clamp standoff is in the left and right ends of compound cam shaft-like work；There is two support clamp arm, work piece holder at the top of the work piece holder Two support clamp arm be used for clamp compound cam shaft-like work.
Preferably, automatic setup system of the present invention further includes fuselage, the both side ends of the clamp system are equipped with respectively One sliding block, the quantity of the slide is two, and two slides are located at clamp system two side ends, two cunnings of clamp system respectively Block coordinates one by one to be slidably mounted in two slides；The both ends end of the screw is separately installed with rotation axis bearing, the torsion Force motor, gearbox, slide and two rotation axis bearings are fixedly installed on fuselage respectively；The length of the screw and slide Length matches, and the length of the screw is longer than the length of compound cam shaft-like work.
Preferably, automatic setup system of the present invention further includes control system, constant temperature air conditioning system and housing, the housing Control system and constant temperature air conditioning system are equipped with, the constant temperature air conditioning system has six constant temperature air conditioning outlet pipes, six constant temperature skies Recall pipe respectively with kludge, swelling machine, Laser Jet barcode scanning device, end fittings assembling device, torque tester, into Product storage conveying arrangement, which corresponds, to be set；The 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 are a pair of It should be electrically connected.
A kind of combined camshaft automatic assembly method, its assembly method are as follows：
A, the steel pipe of combined camshaft and cam assembling operation：Its operational method is as follows：
A1, the first robot arm of the first robot capture the steel pipe needed for combined camshaft assembling from steel pipe feed bin And by penstock installation on the collet of electric rotating machine end；First robot arm of the first robot is from parts feed bin Cam is simultaneously positioned on parts assembling positioning table by the required cam of crawl combined camshaft assembling；The lifting electricity of kludge Machine drives elevating screw descending motion, and elevating screw drives electric rotating machine, collet descending motion, and grips steel pipe together declines Movement；
A2, first grips steel pipe drop to extreme lower position, and steel pipe is placed through parts assembling positioning table at this time Cam, allow steel pipe the top cam installation site point is corresponding with device for dotting position, and device for dotting is getting driving cylinder ready Steel pipe the top cam installation site point is carried out getting operation ready under movement effect, then grips steel pipe continues to decline, when The top cam installation site point of steel pipe falls into place at the cam position of parts assembling positioning table and causes cam Location and installation is outside the top cam installation site point of steel pipe；
A3, the lifting motor driving elevating screw of kludge rise resetting movement, and elevating screw drives electric rotating machine, collet Rise resetting movement, grips steel pipe together rises resetting movement；First robot arm of the first robot from assembling zero The cam needed for combined camshaft assembling is captured in part feed bin and cam is positioned on parts assembling positioning table；Kludge Lifting motor driving elevating screw descending motion, elevating screw drive electric rotating machine, collet descending motion, grips steel pipe Together descending motion, allow steel pipe topmost the second cam installation site point it is corresponding with device for dotting position, device for dotting is being beaten To steel pipe, topmost the second cam installation site point carries out getting operation ready under point driving cylinder moving effect, then grips steel Pipe continues to decline, when the top the second cam installation site point of steel pipe is fallen into place in the cam of parts assembling positioning table At position and cam orientation is installed on outside the top the second cam installation site point of steel pipe；The step of according to step A3 Method installs all cams successively from top to bottom with principle outside steel pipe；
A4, the lifting motor driving elevating screw of kludge rise resetting movement, and elevating screw drives electric rotating machine, collet Rise resetting movement, grips steel pipe together rises resetting movement；
B, combined camshaft swelling operation：The first robot that the combined camshaft of step A is passed through into the first robot Arm is crawled out from kludge and is installed between the push rod A ends of swelling machine and hold-down mechanism, and swelling Driven by Hydraulic Cylinder pushes away Bar A stretches out movement, and push rod A is moved right and promoted 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, which continues to stretch out, to move and promotes swelling steel ball in combined camshaft work Right end is moved to from left end in the steel tube inner hole of part, finally falling to steel ball from the steel tube inner hole right end of compound cam shaft-like work returns Receive in cleaning device；The tension force size of pressure sensor A detection hold-down mechanisms and by tension force data transfer to Laser Jet In barcode scanning device；
C, combined camshaft stamp operation：By the second robot arm of the second robot by the group in swelling machine Camshaft workpiece grabbing is closed to come out and be positioned on Laser Jet barcode scanning device to the progress stamp operation of compound cam shaft-like work, 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 in the coding Tension force during the combined camshaft work piece production that pressure sensor A is transmitted in storing step B in the database of name Size data；
D, the end fittings assembling work of combined camshaft：By the second robot arm of the second robot by step Two work piece holders that compound cam shaft-like work in C assembles device by end fittings clamp；First on the right side of push rod B Hold end activity installation first end assembly parts, and the activity installation the second end dress on the second end assembling termination left surface Accessory, starts assembling cylinder efficient, assembling oil cylinder drives piston rod, pressure sensor B, push rod B successively, and horizontal linear is transported to the right Dynamic, the first end assembly parts insertion of push rod B right ends end installation is installed in the steel pipe left end mouth of pipe of compound cam shaft-like work, Then push rod B right ends end continues to move right, and push rod B promotes compound cam shaft-like work, two work piece holders to transport to the right together It is dynamic, then so that the steel pipe right end mouth of pipe of compound cam shaft-like work connects 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 to move right together, until group Untill the steel pipe both ends mouth of pipe of conjunction cam shaft-like work has been respectively mounted end fittings；Pressure sensor B detection assembling oil cylinders are given The size of pressure and by pressure size data transfer into Laser Jet barcode scanning device；Second robot arm of the second robot By combined camshaft workpiece grabbing and Laser Jet barcode scanning device progress barcode scanning is transported to, Laser Jet barcode scanning device passes pressure Pressure size data detected by sensor B are stored in the database of the corresponding coding of the 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 by combined camshaft work pieces mate be 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, passes through front end three-jaw Actuating unit applies driving force to front end three-jaw allows front end three-jaw to clamp penstock installation front end；The steel pipe peace of compound cam shaft-like work Dress rear end, which coordinates, to be installed in tail end three-jaw, and applying driving force to tail end three-jaw by tail end three-jaw actuating unit allows tail end three-jaw Clamp penstock installation rear end；
E2, the steel pipe front end to compound cam shaft-like work carry out torsional forces detection：Start clamp system translation motor and lead to Cross transmission mechanism and output power to screw end, screw rotates and drives the screw counterpart of clamp system to move, and screw drives Dynamic screw counterpart does linear translational motion together with clamp system, and clamp system additional translational on two slides moves, finally The clamp assembly of clamp system is allowed to clamp steel pipe front end；Start torsion motor and torsional forces is transmitted to gearbox, pass through gearbox Torsional forces is transmitted to revolution torsion sensor, front end three-jaw successively, front end three-jaw relies on front end three-jaw engine after speed change Structure clamps penstock installation front end；The clamp assembly of clamp system clamps steel pipe front end, and front end three-jaw clamps penstock installation front end simultaneously Apply torsional forces to clamping penstock installation front end, revolution torsion sensor, which is realized, carries out the steel pipe front end of compound cam shaft-like work Torsional forces detects, and revolution torsion sensor will detect that steel pipe front end torsional forces is transmitted in Laser Jet barcode scanning device；
E3, coordinate tight ness rating to carry out torsional forces detection installation between the steel pipe and cam of compound cam shaft-like work：Clamp Mechanism translation motor outputs power to screw end by transmission mechanism, and screw rotates and drives the screw of clamp system to coordinate Part moves, and screw driving screw counterpart does linear translational motion together with clamp system, and clamp system aids on two slides Translational motion, finally allows the clamp assembly of clamp system to clamp the cam of relevant position outside steel pipe；Torsion motor is by torsional forces Gearbox is transmitted to, by the way that torsional forces to be transmitted to revolution torsion sensor, front end three-jaw, front end successively after gearbox speed change Three-jaw clamps penstock installation front end by front end three-jaw actuating unit；The clamp assembly of clamp system clamps corresponding positions outside steel pipe The cam put, front end three-jaw clamp penstock installation front end and apply torsional forces, revolution torsion sensing to clamping penstock installation front end Device is realized to carrying out torsional forces detection between the steel pipe of compound cam shaft-like work and the cam of relevant position, turns round torsion sensor It will detect that torsional forces is transmitted in Laser Jet barcode scanning device between steel pipe and the cam of relevant position；
E4, the 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 Higher intensity is needed to require, torsional forces requirement is less than compound cam shaft-like work required for the steel pipe rear end of compound cam shaft-like work Steel pipe front end；Clamp system translation motor is stopped, and torsional forces is transmitted to gearbox by torsion motor, passes through gearbox speed change Torsional forces is transmitted to revolution torsion sensor, front end three-jaw successively afterwards, front end three-jaw is pressed from both sides by front end three-jaw actuating unit Tight penstock installation front end, after tail end three-jaw actuating unit allows tail end three-jaw to clamp penstock installation tail end three-jaw application driving force End；Tail end three-jaw clamps penstock installation rear end, and front end three-jaw clamps penstock installation front end and applies to clamping penstock installation front end Torsional forces, to realize that the steel pipe rear end to compound cam shaft-like work carries out the purpose of torsional forces detection, revolution torsion sensor will Detect that steel pipe rear end torsional forces is transmitted in Laser Jet barcode scanning device；
E5, by the second robot arm of the second robot by combined camshaft workpiece grabbing and be transported to Laser Jet Barcode scanning device carries out barcode scanning, and Laser Jet barcode scanning device is big by the torsional forces for turning round steel pipe front and back end detected by torsion sensor It is right that torsional forces size data between small data and steel pipe and the cam of relevant position is stored in the compound cam shaft-like work institute In the database that should be encoded；
F, the storage and hauling operation of combined camshaft：Pass through the second robot arm combined camshaft of the second robot Workpiece grabbing is simultaneously transported to finished product storage conveying arrangement, and finished product storage conveying arrangement is stored and transported to compound cam shaft-like work It is defeated；Coding corresponding to the compound cam shaft-like work and coded data storehouse are together transmitted to control by Laser Jet barcode scanning device In order to which the later stage inquires about in system.
The present invention compared with the prior art, has the following advantages and beneficial effect：
(1) present invention can be big to the tension force size in combined camshaft production process, end fittings installation pressure The data that torsional forces size in small, moment of torsion detection is detected and detected in real time are stored in corresponding with combined camshaft In stamp coding, so it can know that combined camshaft produced by inquiring about the information in combined camshaft coded data storehouse Indices in journey, this advantageously combined camshaft subsequent quality tracking, failure problems investigation and processing quality lifting.
(2) swelling machine of the invention can detect swelling steel ball swelling cam in compound cam shaft-like work steel tube inner hole Tension force size, can go out whether cam is combined in place with compound cam shaft-like work steel pipe with intuitive judgment, this can be intuitively Reflect the quality of production of combined camshaft；And the lookup and exclusion of combined camshaft failure are realized, while can instruct And improve the quality of production of combined camshaft.
(3) the push rod B ends installation of end fittings assembling device of the present invention and compound cam shaft-like work steel pipe left end pipe The matched first end assembly parts of mouth, are provided with and compound cam shaft-like work steel pipe right end pipe on the second end assembling termination The matched the second end assembly parts of mouth, so when assembling hydraulic oil cylinder driving push rod B stretching movements, a left side for compound cam shaft-like work End and first end assembly parts, which coordinate, to be installed, while the right end of compound cam shaft-like work coordinates installation with the second end assembly parts, Which achieves compound cam shaft-like work both ends end while the purpose of mounting end assembly parts, production efficiency is improved.
(4) torque tester of the 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, can easily realize very much to the whole product of combined camshaft All torsion torque quickly detects.Applied by the torsional forces of torque motor, allow clamp system to clamp or do not clamp combined camshaft phase Answer position easily to realize combination each location fixes torsion-testing of camshaft, moment of torsion is applied with to each position of combined camshaft After power, each position of combined camshaft is detected, it can be determined that whether the quality for going out each position of combined camshaft reaches It is required that.Revolution torsion sensor can detect the torsional forces size of gearbox output, and to each position moment of torsion of combined camshaft Power output size is detected and records, and in order to the Quality estimation after detecting, and can also be that subsequent combination camshaft carry High yield quality provides test basis and directive function.
Brief description of the drawings
Fig. 1 is the structure diagram of assembly system of the present invention；
Fig. 2 is the structure diagram of control system of the present invention, constant temperature air conditioning system and housing；
Fig. 3 is the structure diagram of kludge of the present invention；
Fig. 4 is the structure diagram of swelling machine of the present invention；
Fig. 5 is the structure diagram that end fittings of the present invention assemble device；
Fig. 6 is the structure diagram of torque tester of the present invention.
Wherein, it is entitled corresponding to the reference numeral in attached drawing：
1- kludges, 2- steel pipe feed bins, 3- parts feed bins, the first robots of 4-, the first robots of 41- Arm working region, 5- swelling machines, 6- Laser Jet barcode scanning devices, 7- end fittings assembling device, 8- torsion detection dress Put, 9- finished products storage conveying arrangement, the second robots of 10-, the second robot arms of 101- working region, 11- controls system System, 12- constant temperature air conditioning systems, 13- housings, 14- lifting motors, 15- fuselages C, 16- elevating screw, 17- electric rotatings Machine, 18- collets, 19- device for dotting, 20- parts assembling positioning table, 51- swelling hydraulic cylinders, 52- push rods A, 53- Swelling steel ball, 54- compound cam shaft-like works, 55- hold-down mechanisms, 56- pressure sensors A, 57- fuselage A, 571- hydraulic pressure Cylinder support arm, 572- swelling support arms, 573- workpiece supports, 574- compress support arm, 58- steel ball recovery and rinsing devices, 71- Assemble oil cylinder, 72- pressure sensors B, 73- push rod B, 74- first end assembly parts, 76- the second end assembly parts, 77- Work piece holder, 78- fuselages B, 781- cylinder support, 782- push rods coordinate bearing, 783- the second ends assembling termination, 79- Fixture slide, 81- torsion motors, 82- gearboxes, 83- revolution torsion sensors, 84- front ends three-jaw, 85- clamping machines Structure, 851- sliding blocks, 86- slides, 87- screws, 88- clamp system translation motors, 881- transmission mechanisms, 89- tail ends three Pawl, 54- compound cam shaft-like works, 541- steel pipes, 542- cams.
Embodiment
The present invention is described in further detail with reference to embodiment：
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 10,4 peripheral region of the first robot coordinates equipped with kludge 1, steel pipe feed bin 2, parts feed bin 3, and steel pipe feed bin 2 is used to contain The steel pipe 541 needed for combined camshaft assembling is put, parts feed bin 3 is used to hold the cam needed for combined camshaft assembling 542, kludge 1 assembles combined camshaft first product for installing several cams outside steel pipe；Around second robot 10 Region coordinates equipped with swelling machine 5, Laser Jet barcode scanning device 6, end fittings assembling device 7, torque tester 8 and finished product Store conveying arrangement 9, swelling machine 5 be used in the steel pipe 541 of combined camshaft first product by swelling steel ball 53 allow steel pipe 541 with 542 mutual swelling of cam coordinates, and end fittings assembling device 7 is used for the 541 both ends mouth of pipe of steel pipe in combined camshaft first product Place assembles end fittings and forms combined camshaft finished product respectively, and torque tester 8 is used for the steel to combined camshaft finished product Torsional forces between 541 end of pipe and steel pipe 541, cam 542 is detected, and finished product storage conveying arrangement 9, which is used to store, to be turned round Combined camshaft finished product and transport combined camshaft finished product, Laser Jet barcode scanning device 6 after the detection of square power are used for combination Tension force, end fittings installation pressure, the torsional forces of combined camshaft moment of torsion detection in Camshaft Production are stored simultaneously Corresponding combined camshaft carries out stamp, barcode scanning operation；There is the first robot arm, the first robot in first robot 4 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 5 four kludge 1, steel pipe feed bin 2, parts feed bin 3, swelling machine components；There is the second machine in second robot 10 Device human arm, the working region of the second robot arm are the second robot arm working region 101, the of the second robot 10 Two robot arm working regions 101 covering swelling machine 5, Laser Jet barcode scanning device 6, end fittings assembling device 7, torsion Detection device 8, finished product storage 9 five components of conveying arrangement；Swelling machine 5, end fittings assembling device 7, torque tester 8 It is connected respectively with 6 telecommunication of Laser Jet barcode scanning device.
Currently preferred kludge 1 includes lifting motor 14, fuselage C15, electric rotating machine 17, device for dotting 19 and assembling Component assembly positioning table 20, fuselage C15 tops are equipped with lifting motor 14, lifting silk are provided with 14 power output shaft of lifting motor Bar 16,17 sidepiece of electric rotating machine are equipped with base, and the base power of electric rotating machine 17, which coordinates, to be installed on elevating screw 16, lifts silk Bar 16 is used for the 17 oscilaltion campaign of base and electric rotating machine for driving electric rotating machine 17, and 17 end of electric rotating machine, which is equipped with, to be used for The collet 18 of steel pipe 541 is clamped, parts corresponding with 18 position of collet assembling positioning table is equipped with fuselage C15 bottoms 20, fuselage C15 are equipped with the device for dotting 19 positioned at 20 top of parts assembling positioning table, device for dotting 19 and collet 18 Put corresponding, device for dotting 19, which is connected with, gets driving cylinder ready.
Currently preferred swelling machine 5 includes fuselage A57, swelling hydraulic cylinder 51, hold-down mechanism 55 and pressure sensor Installation equipped with hydraulic cylinder support arm 571, swelling support arm 572 and compresses support arm 574, liquid successively from left to right at the top of A56, fuselage A57 Swelling hydraulic cylinder 51 is installed, swelling hydraulic cylinder 51 has the push rod by hydraulic-driven stretching motion on cylinder pressure support arm 571 A52, push rod A52 end sequentially pass through hydraulic cylinder support arm 571, swelling support arm 572 is contacted with compound cam shaft-like work 54, compress branch Hold-down mechanism 55 is installed on arm 574, the clamping of compound cam shaft-like work 54 be installed on push rod A52 ends and hold-down mechanism 55 it Between, the corresponding pressure sensor A56, push rod A52 being provided with for detecting 55 thrust size of hold-down mechanism on hold-down mechanism 55 Swelling steel ball 53 is installed, the bar footpath of push rod A52 is less than combination between end and 541 mouth of pipe of steel pipe of compound cam shaft-like work 54 541 diameter of bore of steel pipe of cam shaft-like work 54,541 endoporus of steel pipe of the diameter of swelling steel ball 53 than compound cam shaft-like work 54 Diameter big 0.1~0.3mm, fuselage A57 are equipped with the steel ball recovery and rinsing device 58 of corresponding compound cam shaft-like work 54；Pressure passes Sensor A56 is connected with 6 telecommunication of Laser Jet barcode scanning device.
Currently preferred end fittings assembling device 7 includes assembling oil cylinder 71, pressure sensor B72 and fuselage B78, Installation coordinates bearing 782, the second end assembling termination equipped with cylinder support 781, push rod successively from left to right at the top of fuselage B78 783, assembling oil cylinder 71 is installed on cylinder support 781, assembling oil cylinder 71 has the piston rod by hydraulic-driven stretching motion, Piston rod end is connected with pressure sensor B72, and pressure sensor B72 ends are connected with push rod B73, and push rod coordinates bearing 782 Push rod stretching motion hole is equipped with, push rod B73 ends coordinate the push rod stretching motion hole of bearing 782 through push rod；Fuselage B78 is pushed up Portion is additionally provided with fixture slide 79, several work piece holders 77 are slidably fitted with fixture slide 79, are clamped on work piece holder 77 Compound cam shaft-like work 54 is installed, fixture slide 79 is respectively positioned on push rod with compound cam shaft-like work 54 and coordinates bearing 782, second Between the assembling termination 783 of end；Push rod B73 end activities are equipped with and the 541 left end mouth of pipe of the steel pipe of compound cam shaft-like work 54 The first end assembly parts 74 of installation are engaged, the second end assembles activity on termination 783 and is equipped with and compound cam shaft-like work The 54 541 right end mouth of pipe of steel pipe is engaged the second end assembly parts 76 of installation.
Currently preferred torque tester 8 includes torsion motor 81, gearbox 82, turns round torsion sensor 83, is preceding Three-jaw 84, tail end three-jaw 89, clamp system 85, slide 86, screw 87 and clamp system translation motor 88 are held, torsion motor 81 The power intake power connector of power output end and gearbox 82, power output end and the revolution torsion sensor of gearbox 82 83 power connectors, revolution torsion sensor 83 and 84 power connector of front end three-jaw, the steel pipe 541 of compound cam shaft-like work 54 have Front end and installation rear end are installed, the installation front end of steel pipe 541, which coordinates, to be installed in front end three-jaw 84, tail end three-jaw 89 and tail end three Pawl actuating unit power connector, the installation rear end of steel pipe 541, which coordinates, to be installed in tail end three-jaw 89；The clamping group of clamp system 85 Part is engaged with 54 position of compound cam shaft-like work, and 85 end of clamp system is equipped with coordinates the sliding block being slidably installed with slide 86 851, clamp system translation motor 88 drives screw 87 to rotate by transmission mechanism 881, and clamp system 85 is equipped with and screw 87 The screw counterpart of transmission is engaged, screw 87 is used to drive screw counterpart to do linear translational motion together with clamp system 85； Transmission mechanism 881 is driving belt, is provided with belt pulley A on the power output shaft of clamp system translation motor 88, on screw 87 Belt pulley B is installed, transmission mechanism 881 is connected between belt pulley A and belt pulley B.
As shown in figure 4, being equipped with two workpiece supports 573 at the top of fuselage A57, one of workpiece support 573 is close Swelling support arm 572 is set, another workpiece support 573 is set close to support arm 574 is compressed；The top of workpiece support 573 is equipped with Two support clamp arm, two support clamp arm of workpiece support 573 are used to support compound cam shaft-like work 54；Steel ball recycling is clear Cleaning device 58 includes steel ball recycling bins, and ejected wash water is contained with steel ball recycling bins, and equipped with some in steel ball recycling bins A cleaning sprayer, the setting corresponding with 54 position of compound cam shaft-like work of steel ball recycling bins.
As shown in figure 5, two work piece holders 77, one of workpiece are slidably fitted with the fixture slide 79 of fuselage B78 Fixture 77 is set close to first end assembly parts 74, another work piece holder 77 is set close to the second end assembly parts 76, two 77 common clamp standoff of work piece holder is in the left and right ends of compound cam shaft-like work 54；The top of work piece holder 77 has two supports Clamp arm, two support clamp arm of work piece holder 77 are used to clamp compound cam shaft-like work 54.
As shown in fig. 6, assembly system of the present invention further includes fuselage, the both side ends of clamp system 85 are equipped with a cunning respectively Block 851, the quantity of slide 86 are two, and two slides 86 are located at 85 two side ends of clamp system respectively, two of clamp system 85 Sliding block 851 coordinates one by one to be slidably mounted in two slides 86；The both ends end of screw 87 is separately installed with rotation axis bearing, turns round Force motor 81, gearbox 82, slide 86 and two rotation axis bearings are fixedly installed on fuselage respectively；The length and cunning of screw 87 The length of rail 86 matches, and the length of screw 87 is longer than the length of compound cam shaft-like work 54.
As shown in Fig. 2, assembly system of the present invention further includes control system 11, constant temperature air conditioning system 12 and housing 13, housing 13 are equipped with control system 11 and constant temperature air conditioning system 12, and constant temperature air conditioning system 12 has six constant temperature air conditioning outlet pipes, six perseverances Warm air-conditioning outlet pipe is examined 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 is corresponded and set；Six constant temperature air conditioning outlet pipes of constant temperature air conditioning system 12 are respectively Kludge 1, swelling machine 5, Laser Jet barcode scanning device 6, end fittings assembling device 7, torque tester 8, finished product storage 9 cooling of conveying arrangement is handled.Control system 11 is filled with kludge 1, the first robot 4, swelling machine 5, Laser Jet barcode scanning respectively 6, end fittings assembling device 7, torque tester 8, finished product storage conveying arrangement 9, the second robot 10 is put to correspond Be electrically connected, be respectively equipped with control system 11 control kludge 1, the first robot 4, swelling machine 5, Laser Jet barcode scanning device 6, The control of end fittings assembling device 7, torque tester 8, finished product storage conveying arrangement 9,10 all components of the second robot System switch, can so be realized by control system 11 and kludge 1, the first robot 4, swelling machine 5, Laser Jet barcode scanning are filled Put 6, end fittings assembling device 7, torque tester 8, finished product storage conveying arrangement 9,10 all components of the second robot Switching manipulation.
A kind of combined camshaft automatic assembly method, its assembly method are as follows：
A, the steel pipe of combined camshaft and cam assembling operation：Its operational method is as follows：
A1, the first robot arm of the first robot 4 capture the steel needed for combined camshaft assembling from steel pipe feed bin 2 Steel pipe 541 is simultaneously installed on the collet 18 of 17 end of electric rotating machine by pipe 541；First robot arm of the first robot 4 from The cam 542 needed for combined camshaft assembling is captured in parts feed bin 3 and cam 542 is positioned over parts assembling and is determined On the platform 20 of position；Driving 16 descending motion of elevating screw of lifting motor 14 of kludge 1, the drive of elevating screw 16 electric rotating machine 17, 18 descending motion of collet, collet 18 clamp the together descending motion of steel pipe 541；
A2, first collet 18 clamp steel pipe 541 and drop to extreme lower position, and steel pipe 541 is placed through parts dress at this time Cam 542 with positioning table 20, makes 541 the top cam installation site point of steel pipe corresponding with 19 position of device for dotting, gets ready Device 19 carries out getting operation ready in the case where getting driving cylinder moving effect ready to 541 the top cam of steel pipe, 542 installation site point, so Collet 18 clamps steel pipe 541 and continues to decline afterwards, when the top cam installation site point of steel pipe 541 is fallen into place in parts Assemble at 542 position of cam of positioning table 20 and cause 542 location and installation of cam in the top cam installation site of steel pipe 541 Point is exterior；
A3, the lifting motor 14 of kludge 1 drive elevating screw 16 to rise resetting movement, and elevating screw 16 drives electric rotating Machine 17, collet 18 rise resetting movement, and collet 18 clamps steel pipe 541 and together rises resetting movement；First machine of the first robot 4 Device human arm captures the cam 542 needed for combined camshaft assembling from parts feed bin 3 and cam 542 is positioned over assembling On component assembly positioning table 20；The lifting motor 14 of kludge 1 drives 16 descending motion of elevating screw, and elevating screw 16 drives rotation Rotating motor 17,18 descending motion of collet, collet 18 clamp the together descending motion of steel pipe 541, allow the second cam topmost of steel pipe 541 Installation site point is corresponding with 19 position of device for dotting, and device for dotting 19 is in the case where getting driving cylinder moving effect ready to steel pipe 541 Topmost 542 installation site point of the second cam carries out getting operation ready, and then collet 18 clamps steel pipe 541 and continues to decline, and works as steel pipe 541 the top the second cam installation site point is fallen into place at 542 position of cam of parts assembling positioning table 20 simultaneously So that 542 location and installation of cam is outside the top the second cam installation site point of steel pipe 541；According to step A3 the step of sides Method installs all cams 542 successively from top to bottom with principle outside steel pipe 541；
A4, the lifting motor 14 of kludge 1 drive elevating screw 16 to rise resetting movement, and elevating screw 16 drives electric rotating Machine 17, collet 18 rise resetting movement, and collet 18 clamps steel pipe 541 and together rises resetting movement；
B, combined camshaft swelling operation：The first robot by the combined camshaft of step A by the first robot 4 Arm is crawled out from kludge 1 and is installed between the push rod A52 ends of swelling machine 5 and hold-down mechanism 55, swelling hydraulic cylinder 51 driving push rod A52 stretch out movement, and push rod A52 is moved right and promoted swelling steel ball 53 from 54 left end pipe of compound cam shaft-like work Mouth enters in the steel tube inner hole of compound cam shaft-like work 54, and 51 driving push rod A52 of swelling hydraulic cylinder, which continues to stretch out, to move and promote Swelling steel ball 53 moves to right end in the steel tube inner hole of compound cam shaft-like work 54 from left end, finally from compound cam shaft-like work 54 steel tube inner hole right end is fallen in steel ball recovery and rinsing device 58；Pressure sensor A56 detects the swelling of hold-down mechanism 55 Power size and by tension force data transfer into Laser Jet barcode scanning device 6；
C, combined camshaft stamp operation：It will be located at by the second robot arm of the second robot 10 in swelling machine 5 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 beaten Code operation, the coding corresponding to the compound cam shaft-like work 54 are printed on compound cam shaft-like work 54, Laser Jet barcode scanning dress Put 6 compound cam shaft-like works that pressure sensor A56 is transmitted in storing step B in the database that the coding is named Tension force size data in 54 production processes；
D, the end fittings assembling work of combined camshaft：It will be walked by the second robot arm of the second robot 10 Two work piece holders 77 that compound cam shaft-like work 54 in rapid C assembles device 7 by end fittings clamp；Pushing away first The right end end activity installation first end assembly parts 74 of bar B73, and the activity on the second end assembling 783 left surface of termination The second end assembly parts 76 are installed, starts assembling oil cylinder 71 and works, assembling oil cylinder 71 drives piston rod, pressure sensor successively Horizontal rectilinear motion, the insertion of first end assembly parts 74 of push rod B73 right ends end installation are installed on group to the right by B72, push rod B73 In the 541 left end mouth of pipe of steel pipe for closing cam shaft-like work 54, then push rod B73 right ends end continues to move right, and push rod B73 is promoted 54, two work piece holders 77 of compound cam shaft-like work move right together, then so that the steel pipe 541 of compound cam shaft-like work 54 The right end mouth of pipe is in contact with the second end assembly parts 76 of the second end assembling termination 783 and coordinates insertion to install；Push rod B73 is pushed away Dynamic compound cam 54, two work piece holders 77 of shaft-like work continue to move right together, until the steel pipe of compound cam shaft-like work 54 Untill the 541 both ends mouths of pipe have been respectively mounted end fittings；Pressure sensor B72 detection assembling oil cylinders 71 give the size of pressure simultaneously By pressure size data transfer into Laser Jet barcode scanning device 6；Second robot arm of the second robot 10 will combine convex Wheel shaft-like work 54, which captures and is transported to Laser Jet barcode scanning device 6, carries out barcode scanning, and Laser Jet barcode scanning device 6 is by pressure sensor Pressure size data detected by B72 are stored in the database of the corresponding coding of the compound cam shaft-like work 54；
E, the torsional forces detection operation of combined camshaft：Its detection method is as follows：
E1, coordinated compound cam shaft-like work 54 by the second robot arm of the second robot 10 and 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 into front end cooperation and is installed on front end three-jaw 84 In, apply driving force to front end three-jaw 84 by front end three-jaw actuating unit and allow front end three-jaw 84 to clamp the installation of steel pipe 541 front end； 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, passes through tail end three-jaw actuating unit Applying driving force to tail end three-jaw 89 allows tail end three-jaw 89 to clamp the installation of steel pipe 541 rear end；
E2,541 front end of steel pipe to compound cam shaft-like work 54 carry out torsional forces detection：Start clamp system translation motor 88 and 87 end of screw is output power to by transmission mechanism 881, screw 87 rotates and drives the screw of clamp system 85 to match somebody with somebody Component moves, and screw 87 drives screw counterpart to do linear translational motion together with clamp system 85, and clamp system 85 is in two cunnings Additional translational moves on rail 86, finally allows the clamp assembly of clamp system 85 to clamp 541 front end of steel pipe；Starting torsion motor 81 will Torsional forces is transmitted to gearbox 82, by torsional forces is transmitted to successively after 82 speed change of gearbox revolution torsion sensor 83, Front end three-jaw 84, front end three-jaw 84 clamp steel pipe 541 by front end three-jaw actuating unit and install front end；The clamping of clamp system 85 Component clamps 541 front end of steel pipe, and front end three-jaw 84 clamps steel pipe 541 and installs front end and apply to clamping the installation of steel pipe 541 front end Torsional forces, revolution torsion sensor 83 is realized carries out torsional forces detection, revolution to 541 front end of steel pipe of compound cam shaft-like work 54 Torsion sensor 83 will detect that 541 front end torsional forces of steel pipe is transmitted in Laser Jet barcode scanning device 6；
E3, coordinate tight ness rating to carry out torsional forces inspection installation between the steel pipe 541 and cam 542 of compound cam shaft-like work 54 Survey：Clamp system translation motor 88 outputs power to 87 end of screw by transmission mechanism 881, and screw 87 rotates and drives folder The screw counterpart movement of tight mechanism 85, screw 87 drive screw counterpart to do linear translational motion together with clamp system 85, press from both sides Tight mechanism 85 additional translational on two slides 86 moves, and finally allows the clamp assembly of clamp system 85 to clamp outside steel pipe 541 The cam 542 of relevant position；Torsional forces is transmitted to gearbox 82 by torsion motor 81, by 82 speed change of gearbox afterwards by moment of torsion Power is transmitted to revolution torsion sensor 83, front end three-jaw 84 successively, and front end three-jaw 84 clamps steel by front end three-jaw actuating unit Pipe 541 installs front end；The clamp assembly of clamp system 85 clamps the cam 542 of 541 outside relevant position of steel pipe, front end three-jaw 84 Clamp steel pipe 541 front end is installed and application torsional forces in front end is installed to clamping steel pipe 541, revolution torsion sensor 83 is realized to group Close and torsional forces detection is carried out between the steel pipe 541 of cam shaft-like work 54 and the cam 542 of relevant position, turn round torsion sensor 83 It will detect that torsional forces is transmitted in Laser Jet barcode scanning device 6 between steel pipe 541 and the cam 542 of relevant position；
E4,541 rear end of steel pipe to compound cam shaft-like work 54 carry out torsional forces detection, the steel of compound cam shaft-like work 54 541 front end of pipe needs higher intensity to require, and torsional forces requirement required for 541 rear end of steel pipe of compound cam shaft-like work 54 is less than group Close 541 front end of steel pipe of cam shaft-like work 54；Clamp system translation motor 88 is stopped, and torsion motor 81 transmits torsional forces To gearbox 82, torsion sensor 83, front end three-jaw 84 are turned round by being transmitted to torsional forces successively after 82 speed change of gearbox, Front end three-jaw 84 clamps steel pipe 541 by front end three-jaw actuating unit and installs front end, and tail end three-jaw actuating unit is to tail end three-jaw 89 application driving forces allow tail end three-jaw 89 to clamp steel pipe 541 and install rear end；Tail end three-jaw 89 clamps steel pipe 541 and installs rear end, preceding Hold three-jaw 84 to clamp steel pipe 541 front end is installed and applies torsional forces to clamping the installation of steel pipe 541 front end, to realize to compound cam 541 rear end of steel pipe of shaft-like work 54 carries out the purpose of torsional forces detection, and revolution torsion sensor 83 will detect 541 rear end of steel pipe Torsional forces is transmitted in Laser Jet barcode scanning device 6；
E5, captured compound cam shaft-like work 54 by the second robot arm of the second robot 10 and be transported to laser Stamp barcode scanning device 6 carries out barcode scanning, and Laser Jet barcode scanning device 6 will be turned round before and after steel pipe 541 detected by torsion sensor 83 Torsional forces size data between the torsional forces size data and steel pipe 541 and the cam of relevant position 542 at end is stored in this In the database of the corresponding coding of compound cam shaft-like work 54；
F, the storage and hauling operation of combined camshaft：Pass through 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 finished product storage conveying arrangement 9 carries out compound cam shaft-like work 54 Storage and transport；Laser Jet barcode scanning device 6 is by the coding corresponding to the compound cam shaft-like work 54 and coded data storehouse one It is same to be transmitted in control system 11 in order to which the later stage inquires about.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.

Claims (10)

  1. A kind of 1. combined camshaft automatic setup system, it is characterised in that：Including the first robot (4) and the second robot (10), the first robot (4) peripheral region coordinates equipped with kludge (1), steel pipe feed bin (2), parts feed bin (3), The steel pipe feed bin (2) is used to hold the steel pipe (541) needed for combined camshaft assembling, and the parts feed bin (3) is used for The cam (542) needed for combined camshaft assembling is held, the kludge (1) is used to install several cams dress outside steel pipe Allot combined camshaft first product；Second robot (10) peripheral region coordinates to be filled equipped with swelling machine (5), Laser Jet barcode scanning Put (6), end fittings assembling device (7), torque tester (8) and finished product storage conveying arrangement (9), the swelling machine (5) it is used to allow steel pipe (541) and cam (542) phase by swelling steel ball (53) in the steel pipe (541) of combined camshaft first product Mutual swelling coordinates, and the end fittings assembling device (7) is used at steel pipe (541) both ends mouth of pipe of combined camshaft first product End fittings are assembled respectively and form combined camshaft finished product, and the torque tester (8) is used for combined camshaft finished product Steel pipe (541) end and steel pipe (541), cam (542) between torsional forces be detected, finished product storage transport dress (9) are put to be used to store the combined camshaft finished product and transport combined camshaft finished product after torsional forces detection, the Laser Jet Barcode scanning device (6) is used to examine the tension force in combined camshaft production, end fittings installation pressure, combined camshaft moment of torsion The torsional forces of survey, which is stored and corresponds to combined camshaft, carries out stamp, barcode scanning operation；Have the on first robot (4) One robot arm, the working region of the first robot arm are the first robot arm working region (41), the first robot (4) the first robot arm working region (41) covering kludge (1), steel pipe feed bin (2), parts feed bin (3), swelling (5) four components of machine；There is the second robot arm, the working region of the second robot arm on second robot (10) For the second robot arm working region (101), the second robot arm working region (101) of second robot (10) Cover swelling machine (5), Laser Jet barcode scanning device (6), end fittings assembling device (7), torque tester (8), finished product Store (9) five components of conveying arrangement；The 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. 2. combined camshaft automatic setup system described in accordance with the claim 1, it is characterised in that：The kludge (1) includes Lifting motor (14), fuselage C (15), electric rotating machine (17), device for dotting (19) and parts assembling positioning table (20), it is described Lifting motor (14) is equipped with the top of fuselage C (15), elevating screw (16) is installed on lifting motor (14) power output shaft, it is described Electric rotating machine (17) sidepiece is equipped with base, and the base power of the electric rotating machine (17), which coordinates, to be installed on elevating screw (16), Elevating screw (16) is used for base and electric rotating machine (17) elevating movement for driving electric rotating machine (17), the electric rotating machine (17) end is equipped with the collet (18) for being used for clamping steel pipe (541), is equipped with fuselage C (15) bottom opposite with collet (18) position The parts assembling positioning table (20) answered, the fuselage C (15) are equipped with above parts assembling positioning table (20) Device for dotting (19), the device for dotting (19) is corresponding with collet (18) position, and device for dotting (19), which is connected with, gets drive ready Take offence cylinder.
  3. 3. combined camshaft automatic setup system described in accordance with the claim 1, it is characterised in that：The swelling machine (5) includes Fuselage A (57), swelling hydraulic cylinder (51), hold-down mechanism (55) and pressure sensor A (56), from a left side at the top of the fuselage A (57) Hydraulic cylinder support arm (571), swelling support arm (572) and compression support arm (574), the hydraulic cylinder support arm (571) are equipped with successively to right On swelling hydraulic cylinder (51) is installed, swelling hydraulic cylinder (51) has the push rod A (52) by hydraulic-driven stretching motion, described Push rod A (52) end sequentially passes through hydraulic cylinder support arm (571), swelling support arm (572) is contacted with compound cam shaft-like work (54), institute State to compress and hold-down mechanism (55) is installed on support arm (574), compound cam shaft-like work (54) clamping is installed on push rod A (52) It is corresponding on the hold-down mechanism (55) to be provided with for detecting hold-down mechanism (55) thrust between end and hold-down mechanism (55) The pressure sensor A (56) of size, steel pipe (541) mouth of pipe of push rod A (52) ends and compound cam shaft-like work (54) it Between swelling steel ball (53) is installed, the bar footpath of the push rod A (52) is less than steel pipe (541) endoporus of compound cam shaft-like work (54) Diameter, the diameter of the swelling steel ball (53) is bigger by 0.1 than steel pipe (541) diameter of bore of compound cam shaft-like work (54)~ 0.3mm, the fuselage A (57) are equipped with the steel ball recovery and rinsing device (58) of corresponding compound cam shaft-like work (54)；The pressure Force snesor A (56) is connected with Laser Jet barcode scanning device (6) telecommunication.
  4. 4. combined camshaft automatic setup system described in accordance with the claim 1, it is characterised in that：The end fittings assembling Device (7) includes assembling oil cylinder (71), pressure sensor B (72) and fuselage B (78), and fuselage B (78) top is from left to right Cylinder support (781) is equipped with successively, push rod coordinates bearing (782), the second end assembling termination (783), the cylinder support (781) assembling oil cylinder (71) is installed, assembling oil cylinder (71) has the piston rod by hydraulic-driven stretching motion, piston rod on End is connected with pressure sensor B (72), and pressure sensor B (72) end is connected with push rod B (73), and the push rod coordinates bearing (782) it is equipped with push rod stretching motion hole, push rod B (73) end coordinates the push rod of bearing (782) to stretch fortune through push rod Dynamic hole；Fixture slide (79) is additionally provided with the top of the fuselage B (78), several workpiece are slidably fitted with fixture slide (79) Fixture (77), on the work piece holder (77) clamping the compound cam shaft-like work (54), the fixture slide (79) are installed Push rod is respectively positioned on compound cam shaft-like work (54) to coordinate between bearing (782), the second end assembling termination (783)；It is described to push away Bar B (73) end activity is equipped with is engaged the first of installation with the steel pipe of compound cam shaft-like work (54) (541) left end mouth of pipe End fittings (74), the second end assemble activity on termination (783) and are equipped with the steel with compound cam shaft-like work (54) Pipe (541) right end mouth of pipe is engaged the second end assembly parts (76) of installation.
  5. 5. combined camshaft automatic setup system described in accordance with the claim 1, it is characterised in that：The torque tester (8) include torsion motor (81), gearbox (82), revolution torsion sensor (83), front end three-jaw (84), tail end three-jaw (89), Clamp system (85), slide (86), screw (87) and clamp system translation motor (88), the power of the torsion motor (81) are defeated Outlet and the power intake power connector of gearbox (82), power output end and the revolution torsion sensing of the gearbox (82) Device (83) power connector, revolution torsion sensor (83) and front end three-jaw (84) power connector, compound cam shaft-like work (54) Steel pipe (541) has installation front end and installation rear end, and the installation front end of the steel pipe (541), which coordinates, is installed on front end three-jaw (84) In, the tail end three-jaw (89) and tail end three-jaw actuating unit power connector, the installation rear end of the steel pipe (541) coordinate installation In tail end three-jaw (89)；The clamp assembly of the clamp system (85) is engaged with compound cam shaft-like work (54) position, institute State clamp system (85) end and be equipped with and coordinate the sliding block (851) being slidably installed, the clamp system translation motor with slide (86) (88) screw (87) is driven to rotate by transmission mechanism (881), the clamp system (85) is equipped with and is engaged with screw (87) The screw counterpart of transmission, screw (87) are used to drive screw counterpart to do linear translational motion together with clamp system (85)；Institute It is driving belt to state transmission mechanism (881), and belt pulley is provided with the power output shaft of the clamp system translation motor (88) A, is provided with belt pulley B on the screw (87), transmission mechanism (881) is connected between belt pulley A and belt pulley B.
  6. 6. combined camshaft automatic setup system described in accordance with the claim 3, it is characterised in that：At the top of the fuselage A (57) Equipped with two workpiece supports (573), one of workpiece support (573) is set close to swelling support arm (572), another work Part support base (573) is set close to support arm (574) is compressed；Two support clamp arm, work are equipped with the top of the workpiece support (573) Two support clamp arm of part support base (573) are used to support compound cam shaft-like work (54)；The steel ball recovery and rinsing device (58) include steel ball recycling bins, ejected wash water is contained with steel ball recycling bins, and it is clear equipped with several in steel ball recycling bins Wash nozzle, steel ball recycling bins setting corresponding with compound cam shaft-like work (54) position.
  7. 7. according to the combined camshaft automatic setup system described in claim 4, it is characterised in that：The folder of the fuselage B (78) Two work piece holders (77) are slidably fitted with tool slide (79), one of work piece holder (77) is close to first end assembly parts (74) set, another work piece holder (77) is set close to the second end assembly parts (76), and two work piece holders (77) are pressed from both sides jointly Hold the left and right ends for being supported in compound cam shaft-like work (54)；There is two support clamp arm, work at the top of the work piece holder (77) Two support clamp arm of part fixture (77) are used to clamp compound cam shaft-like work (54).
  8. 8. according to the combined camshaft automatic setup system described in claim 5, it is characterised in that：Further include fuselage, the folder The both side ends of tight mechanism (85) are equipped with a sliding block (851) respectively, and the quantity of the slide (86) is two, two slides (86) it is located at clamp system (85) two side ends respectively, two sliding blocks (851) of clamp system (85) coordinate one by one to be slidably mounted on In two slides (86)；The both ends end of the screw (87) is separately installed with rotation axis bearing, and the torsion motor (81), become Fast case (82), slide (86) and two rotation axis bearings are fixedly installed on fuselage respectively；The length and cunning of the screw (87) The length of rail (86) matches, and the length of the screw (87) is longer than the length of compound cam shaft-like work (54).
  9. 9. combined camshaft automatic setup system described in accordance with the claim 1, it is characterised in that：Further include control system (11), constant temperature air conditioning system (12) and housing (13), the housing (13) are equipped with control system (11) and constant temperature air conditioning system (12), the constant temperature air conditioning system (12) has six constant temperature air conditioning outlet pipes, six constant temperature air conditioning outlet pipes respectively with kludge (1), swelling machine (5), Laser Jet barcode scanning device (6), end fittings assembling device (7), torque tester (8), finished product Store conveying arrangement (9) and correspond setting；The 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), which correspond, to be electrically connected.
  10. A kind of 10. combined camshaft automatic assembly method, it is characterised in that：Its assembly method is as follows：
    A, the steel pipe of combined camshaft and cam assembling operation：Its operational method is as follows：
    The steel of A1, the first robot arm of the first robot (4) from steel pipe feed bin (2) needed for the assembling of crawl combined camshaft Steel pipe (541) is simultaneously installed on the collet (18) of electric rotating machine (17) end by pipe (541)；First machine of the first robot (4) Device human arm crawl combined camshaft from parts feed bin (3) assembles required cam (542) and places cam (542) In on parts assembling positioning table (20)；Lifting motor (14) driving elevating screw (16) descending motion of kludge (1), rises Drop screw (16) and drive electric rotating machine (17), collet (18) descending motion, collet (18) clamping steel pipe (541) together declines fortune It is dynamic；
    A2, first collet (18) clamping steel pipe (541) drop to extreme lower position, and steel pipe (541) is placed through parts at this time The cam (542) of positioning table (20) is assembled, allows steel pipe (541) the top cam installation site point and device for dotting (19) position phase Corresponding, device for dotting (19) is in the case where getting driving cylinder moving effect ready to steel pipe (541) the top cam (542) installation site point Carry out getting operation ready, then collet (18) clamping steel pipe (541) continues to decline, when the top cam installation position of steel pipe (541) Put and a little fall into place at cam (542) position of parts assembling positioning table (20) and cause cam (542) location and installation Outside the top cam installation site point of steel pipe (541)；
    A3, lifting motor (14) the driving elevating screw (16) of kludge (1) rise resetting movement, and elevating screw (16) drives rotation Rotating motor (17), collet (18) rise resetting movement, and collet (18) clamping steel pipe (541) together rises resetting movement；First machine Cam (542) of the first robot arm of device people (4) from parts feed bin (3) needed for the assembling of crawl combined camshaft is simultaneously Cam (542) is positioned on parts assembling positioning table (20)；Lifting motor (14) the driving elevating screw of kludge (1) (16) descending motion, elevating screw (16) drive electric rotating machine (17), collet (18) descending motion, collet (18) clamping steel pipe (541) together descending motion, makes the second cam installation site point of steel pipe (541) the top opposite with device for dotting (19) position Should, device for dotting (19) is in the case where getting driving cylinder moving effect ready to steel pipe (541) the top the second cam (542) installation site Point carries out getting operation ready, and then collet (18) clamping steel pipe (541) continues to decline, when the second cam of the top of steel pipe (541) Installation site point falls into place at cam (542) position of parts assembling positioning table (20) and make it that cam (542) is fixed Position is installed on outside the top the second cam installation site point of steel pipe (541)；Exist according to the step method and principle of step A3 All cams (542) are installed successively from top to bottom outside steel pipe (541)；
    A4, lifting motor (14) the driving elevating screw (16) of kludge (1) rise resetting movement, and elevating screw (16) drives rotation Rotating motor (17), collet (18) rise resetting movement, and collet (18) clamping steel pipe (541) together rises resetting movement；
    B, combined camshaft swelling operation：The first robot arm by the combined camshaft of step A by the first robot (4) Crawl out and be installed between push rod A (52) ends of swelling machine (5) and hold-down mechanism (55), swelling from kludge (1) Hydraulic cylinder (51) driving push rod A (52) stretches out movement, and push rod A (52) is moved right and promoted swelling steel ball (53) from compound cam Shaft-like work (54) left end mouth of pipe enters in the steel tube inner hole of compound cam shaft-like work (54), swelling hydraulic cylinder (51) driving push rod A (52) continue to stretch out and move and promote swelling steel ball (53) to be moved in the steel tube inner hole of compound cam shaft-like work (54) from left end To right end, finally fallen to from the steel tube inner hole right end of compound cam shaft-like work (54) in steel ball recovery and rinsing device (58)；Pressure The tension force size of force snesor A (56) detection hold-down mechanisms (55) and by tension force data transfer to Laser Jet barcode scanning device (6) in；
    C, combined camshaft stamp operation：It will be located at by the second robot arm of the second robot (10) in swelling machine (5) Compound cam shaft-like work (54) crawl out and be positioned on Laser Jet barcode scanning device (6) to compound cam shaft-like work (54) Stamp operation is carried out, the coding corresponding to the compound cam shaft-like work (54) is printed on compound cam shaft-like work (54), laser Stamp barcode scanning device (6) in the database that the coding is named in storing step B pressure sensor 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 Two work piece holders (77) that compound cam shaft-like work (54) in C assembles device (7) by end fittings clamp；First In the right end end of push rod B (73) activity installation first end assembly parts (74), and it is left in the second end assembling termination (783) Activity installation the second end assembly parts (76) on side, start assembling oil cylinder (71) work, assembling oil cylinder (71) successively live by driving Stopper rod, pressure sensor B (72), push rod B (73) horizontal rectilinear motion to the right, the first end of push rod B (73) right end end installation Portion's assembly parts (74) insertion is installed in steel pipe (541) left end mouth of pipe of 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 to the right together It is dynamic, then so that steel pipe (541) the right end mouth of pipe of compound cam shaft-like work (54) and the second of the second end assembling termination (783) End fittings (76) are in contact and coordinate insertion to install；Push rod B (73) promotes compound cam shaft-like work (54), two workpiece clamps Tool (77) continues to move right together, until steel pipe (541) both ends mouth of pipe of compound cam shaft-like work (54) has been respectively mounted end Untill assembly parts；Pressure sensor B (72) detection assembling oil cylinders (71) give the size of pressure and by pressure size data transfers Into Laser Jet barcode scanning device (6)；Second robot arm of the second robot (10) grabs compound cam shaft-like work (54) Take and be transported to Laser Jet barcode scanning device (6) and carry out barcode scanning, Laser Jet barcode scanning device (6) is by pressure sensor B (72) institute Detect that pressure size data are stored in the database of the corresponding coding of the compound cam shaft-like work (54)；
    E, the torsional forces detection operation of combined camshaft：Its detection method is as follows：
    E1, coordinated compound cam shaft-like work (54) by the second robot arm of the second robot (10) and 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 Hold in three-jaw (84), applying driving force to front end three-jaw (84) by front end three-jaw actuating unit allows front end three-jaw (84) to clamp steel Manage (541) installation front end；Steel pipe (541) the installation rear end of compound cam shaft-like work (54), which coordinates, is installed on tail end three-jaw (89) In, apply driving force to tail end three-jaw (89) by tail end three-jaw actuating unit and allow tail end three-jaw (89) to clamp steel pipe (541) peace Fill 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 transmission mechanism (881) screw (87) end is output power to, screw (87) rotates and drives clamp system (85) screw counterpart movement, screw (87) driving screw counterpart do linear translational motion together with clamp system (85), press from both sides Tight mechanism (85) additional translational on two slides (86) moves, and finally allows the clamp assembly of clamp system (85) to clamp steel pipe (541) front end；Start torsion motor (81) and torsional forces is transmitted to gearbox (82), by that will be turned round after gearbox (82) speed change Square power is transmitted to revolution torsion sensor (83), front end three-jaw (84) successively, and front end three-jaw (84) relies on front end three-jaw engine Structure clamps steel pipe (541) installation front end；The clamp assembly of clamp system (85) clamps steel pipe (541) front end, front end three-jaw (84) Clamp steel pipe (541) installation front end and apply torsional forces to clamping steel pipe (541) installation front end, revolution torsion sensor (83) is real Torsional forces detection now is carried out to steel pipe (541) front end of compound cam shaft-like work (54), revolution torsion sensor (83) will detect It is transmitted to steel pipe (541) front end torsional forces in Laser Jet barcode scanning device (6)；
    E3, coordinate tight ness rating to carry out torsional forces installation between the steel pipe (541) and cam (542) of compound cam shaft-like work (54) Detection：Clamp system translation motor (88) outputs power to screw (87) end by transmission mechanism (881), and screw (87) turns Move and drive the screw counterpart of clamp system (85) to move, screw (87) driving screw counterpart is done together with clamp system (85) Linear translational motion, clamp system (85) additional translational on two slides (86) move, and finally allow the folders of clamp system (85) Tight component clamps the cam (542) of the exterior relevant position of steel pipe (541)；Torsional forces is transmitted to gearbox by torsion motor (81) (82), by the way that torsional forces to be transmitted to revolution torsion sensor (83), front end three-jaw (84) successively after gearbox (82) speed change, Front end three-jaw (84) clamps steel pipe (541) installation front end by front end three-jaw actuating unit；The clamp assembly of clamp system (85) The cam (542) of the exterior relevant position of steel pipe (541) is clamped, front end three-jaw (84) clamps steel pipe (541) installation front end and to folder Tight steel pipe (541) installation front end applies torsional forces, and revolution torsion sensor (83) realizes the steel to compound cam shaft-like work (54) Manage and torsional forces detection is carried out between (541) and the cam (542) of relevant position, revolution torsion sensor (83) will detect steel pipe (541) torsional forces is transmitted in Laser Jet barcode scanning device (6) 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 needs higher intensity to require, and torsional forces required for steel pipe (541) rear end of compound cam shaft-like work (54) will Ask steel pipe (541) front end less than compound cam shaft-like work (54)；Clamp system translation motor (88) is stopped, torsion motor (81) torsional forces is transmitted to gearbox (82), by the way that torsional forces to be transmitted to revolution torsion successively after gearbox (82) speed change Sensor (83), front end three-jaw (84), before front end three-jaw (84) clamps steel pipe (541) installation by front end three-jaw actuating unit End, after tail end three-jaw actuating unit allows tail end three-jaw (89) to clamp steel pipe (541) installation tail end three-jaw (89) application driving force End；Tail end three-jaw (89) clamps steel pipe (541) installation rear end, and front end three-jaw (84) clamps steel pipe (541) installation front end and to folder Tight steel pipe (541) installation front end applies torsional forces, and steel pipe (541) rear end of compound cam shaft-like work (54) is turned round with realizing The purpose of square power detection, revolution torsion sensor (83) will detect that steel pipe (541) rear end torsional forces is transmitted to Laser Jet and sweeps In code device (6)；
    E5, captured compound cam shaft-like work (54) by the second robot arm of the second robot (10) and be 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 sensor (83) (541) the torsional forces size between the torsional forces size data of front and back end and steel pipe (541) and the cam (542) of relevant position Data are stored in the database of the corresponding coding of the compound cam shaft-like work (54)；
    F, the storage and hauling operation of combined camshaft：Pass through 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) stored and transported；Laser Jet barcode scanning device (6) by the coding corresponding to the compound cam shaft-like work (54) and Coded data storehouse is together transmitted in control system (11) in order to which the later stage inquires about.
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CN107052772B (en) * 2017-05-17 2023-06-20 浙江工贸职业技术学院 Coaxial assembly system of magnetorheological 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
CN110640462B (en) * 2019-10-11 2021-05-28 珞石（北京）科技有限公司 Automatic assembly system and assembly process for variable-lift assembled camshaft
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
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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