CN107363492A - A kind of method that assembly precision is improved on automatic assembly line - Google Patents
A kind of method that assembly precision is improved on automatic assembly line Download PDFInfo
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- CN107363492A CN107363492A CN201710491466.XA CN201710491466A CN107363492A CN 107363492 A CN107363492 A CN 107363492A CN 201710491466 A CN201710491466 A CN 201710491466A CN 107363492 A CN107363492 A CN 107363492A
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- assembly
- pallet
- precision
- robot
- improved
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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
Abstract
The invention discloses a kind of method that assembly precision is improved on automatic assembly line, step 1：Ensure basic assembly parts positioning precision on transfer matic；Step 2：With the function of robot to improve assembly precision.The step 1 includes：1a：The measure of power stopper；1b：Machinery positioning precision.The step 2 includes：2a：Determine the relative position of robot and assembly center；2b：Assembly precision is improved using the tutorial function of robot.The method that assembly precision is improved on a kind of automatic assembly line provided by the invention, all it can be used for any automatic assembly line using robot, in practice it has proved that, its effect is obvious.
Description
Technical field
The present invention relates to a kind of method that assembly precision is improved on automatic assembly line, belong to automated manufacturing technical field.
Background technology
At present, carry out assembling work using robot has real meaning for the productivity ratio and quality for improving product.
The process that product is dressed up in automatic assembly line be it is each by dress workpiece on each station by progressively implement following three assembling
The process of pattern, i.e.,：The assembling of the assembling of axle device to hole, bolts assemblies and irregular part (such as spring).Generally substantial amounts of dress
It is the assembling of axle device to hole with form, reference for assembling part (such as pored component), which is placed in pallet, to be positioned and clamp, robot
Paw is caught by dress workpiece (axle) insertion (gap cooperation operating mode) or is placed on (interference fit operating mode) reference for assembling part, but by
In various errors be present, this preferable operating mode is not present.
The repeatable accuracy of the positioning precision of the pallet actually transmitted, the accuracy of manufacture of workpiece and robot
All affect O and O ' shaft alignements.Therefore, it is very necessary to study and improve assembly precision and corresponding measure on automatic assembly line
's.
The content of the invention
Purpose：In order to overcome the deficiencies in the prior art, the present invention, which provides, improves assembling on a kind of automatic assembly line
The method of precision.
Technical scheme：In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of method that assembly precision is improved on automatic assembly line, including step are as follows:
Step 1：Ensure basic assembly parts positioning precision on transfer matic；
Step 2：With the function of robot to improve assembly precision.
The step 1 includes：
1a：The measure of power stopper；
1b：Machinery positioning precision.
The step 2 includes：
2a：Determine the relative position of robot and assembly center；
2b：Assembly precision is improved using the tutorial function of robot.
Preferably, the step 1a includes：Take following two measures：First is to set up two in wire body to delay
Qi of chong channel ascending adversely cylinder is to produce cushioned resistance, and before pallet is reached home at 0.09m, cushion dashpot leans on the movement filled in and headed on pull bar
Block, at this moment producible cushioned resistance, makes pallet be a significant slowdown；Second be cushion dashpot produce cushioned resistance while,
The air-channel system of pull bar power cylinder implements throttle grverning, and power cylinder is in itself at 0.03m before reaching home for pallet
Cushioning effect is played, declines movement velocity.
Preferably, the step 1b includes：Take two measures for making pallet carry out pre-determined bit twice：The
It is once friction pre-determined bit, after pallet disengages motion-promotion force, constrains its preshoot using additional frictional resistance, accompanying
In installing spring leaf in the both sides guide rail surface of wire body in the range of the preshoot area of fixture, connect by spring leaf and pallet side
Frictional force implements pre-determined bit caused by touching;To carry out pre-determined bit with dead buting iron for the second time, on the work top of each station with
Front at row fixture positioning, one cam of installation, leverage, when pallet slides forward under inertia force effect, quilt
The cam of pull bar pressure lifts dead buting iron by leverage, forces pallet to stop.
Preferably, the step 2a includes：The transmission mode of basic assembly parts is determined according to actual conditions, so as to
The transmission track of assembly center is obtained, and makes transmission track in the working range of robot, transmission track and robot are high
The intersection point of successfully probability curve is assembled, the position of assembly center as in assembling work.
Preferably, the step 2b includes：When the rigging position teaching of robot is to theoretical assembly center O, its
When a series of pallet and basic assembly parts thereon successively reach this station afterwards, its maximum positioning error occurred,
Minimum position error, OiIt is distributed near O points, again the axle center O ' to O of teaching roboti, so when each pallet and
When workpiece thereon is by this station, the maximum positioning error occurred is only that maximum positioning error subtracts OOi。
Beneficial effect：The method that assembly precision is improved on a kind of automatic assembly line provided by the invention, institute in mechanical structure
The measure for improving positioning precision is taken, all may be used when being designed for wire body on the automatic assembly line using rigid assembly machine or robot
To use.When driving and transmission mode difference, it may be considered that different measures, to improve the positioning precision of basic assembly parts.
And use robot function to determine rational assembly center position, and pass through teaching assembly center O1 Position with improve assembling
The method of precision.All it can be used for any automatic assembly line using robot, in practice it has proved that, its effect is obvious.
Embodiment
A kind of method that assembly precision is improved on automatic assembly line, including step are as follows:
Step 1：Ensure basic assembly parts positioning precision on transfer matic；
Basic assembly parts are transmitted in the wire body of automatic assembly line by driving, and clamping is positioned when reaching assembly station.In order to
Positioning precision is improved, it is necessary to be taken measures at two aspects of power stopper and machinery positioning for different driving and transmission mode,
The corresponding measure taken is different.First, basic assembly parts alignment error present in pallet, another is retinue
Position error of the fixture on station position.For the former, can generally take measures to add in terms of jig Design and manufacturing process
With control.And for the latter, it is necessary to solve the problems, such as power stopper and machinery positioning.
1a：The measure of power stopper：
Basic assembly parts are transmitted together with pallet in wire body by drive device, and its power source can be hydraulic drive, or pneumatically,
Or electronic or mechanical system.This example is determined using pneumatic mode from the comparison of various drive schemes in master-plan
To be excellent.Following two measures can be taken to obtain comparatively ideal stopper effect：First is that two bounce cylinders are set up in wire body
(model QOAb50x130, operating pressure 0.15-0.8MPa) to produce cushioned resistance, before pallet is reached home
At 0.09m, cushion dashpot leans on the movable block filled in and headed on pull bar, at this moment can produce 1600N cushioned resistance, make pallet drastically
Slow down；Second is that the air-channel system of pull bar power cylinder implements throttle grverning, Yi Jisui while cushion dashpot produces cushioned resistance
Power cylinder also plays cushioning effect to row fixture in itself at 0.03m before reaching home, and declines movement velocity.So pull bar just exists
Jerk is realized in 0.5s and pallet is realized power indirectly and is held up.
1b：Machinery positioning precision：
This example takes two measures for making pallet carry out pre-determined bit twice：It is friction pre-determined bit for the first time, in pallet
After disengaging motion-promotion force, its preshoot is constrained using additional frictional resistance, method be in the range of the preshoot area of pallet in
Spring leaf is installed in the both sides guide rail surface of wire body, implemented by frictional force caused by spring leaf and pallet contacts side surfaces pre-
(the big palpulus of required frictional force depending on the concrete condition of different station, join by shape, material by changing spring leaf etc. for positioning
Number, which is given, to be adjusted).It is to carry out pre-determined bit with dead buting iron for the second time, on the work top of each station at pallet positioning
Front, a cam, leverage, when pallet slides forward under inertia force effect, by the cam of pull bar pressure are installed
Dead buting iron is lifted by leverage, forces pallet to stop, practice have shown that, employing two pre-determined bit measures can make
The alignment pin of workbench is smoothly inserted in the positioning hole of pallet, be ensure that pallet is realized and is properly positioned, also ensures that
The O axles of basic assembly parts are in preferable rigging position scope.
Step 2：With the function of robot to improve assembly precision：
2a：Determine the relative position of robot and assembly center：
When assembling work is carried out in the working range for the people that puts together machines, due to the structural failure of robot gripper, workpiece
The influence of position error and various random errors, the assembling probability of success of each point is inconsistent, same fashionable dress in working range
It is also higher with the high point of the probability of success, its assembly precision.It is right by taking the SCARA robots for being generally used for plane assembling work as an example
In there is some different assembling probability of succesies in same assembled condition, its work model circle.In order to ensure in set workpiece
Workpiece has the high assembling probability of success under positioning precision index, it is necessary to makes assembly center O positioned at high assembling success probability curve
On.Therefore we can determine the transmission mode of basic assembly parts in design according to actual conditions, so as to obtain assembly center
Transmit track (such as under the situation of linear transmission, the transmission track of assembly center is also straight line), and make transmission track in machine
In the working range of device people, transmission track and the high intersection point for assembling successfully probability curve of robot, as filled in assembling work
Position with center.
2b：Assembly precision is improved using the tutorial function of robot：
When using robot carry out assembling work when, can be with teaching robot's axes O ' to O locate, as described above, by retinue folder
Tool takes corresponding structural measure in terms of stopper and positioning, can improve the positioning precision of basic assembly parts on pallet,
And make its control in a certain value α.But the pallet number due to being transmitted on automatic assembly line (is set to i, work in terms of tens
The axial location in hole is O on part), then when each pallet is by robotic asssembly station, due to each pallet essence
The inconsistency of degree, its α occurrediValue is not quite similar.I.e. when the rigging position teaching of robot is to theoretical assembly center
O, when a series of pallet and basic assembly parts thereon successively reach this station thereafter, its maximum positioning occurred misses
Difference, minimum position error, OiIt is distributed near O points, again the axle center O ' to O of teaching roboti, so when each retinue folder
When tool and workpiece thereon are by this station, the maximum positioning error occurred is only that maximum positioning error subtracts OOi.Also
To say by teaching robot end axes O again ' position to OiPoint can greatly improve the assembly precision on assembly line.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：Come for those skilled in the art
Say, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (7)
1. the method for assembly precision is improved on a kind of automatic assembly line, it is characterised in that：It is as follows including step:
Step 1：Ensure basic assembly parts positioning precision on transfer matic；
Step 2：With the function of robot to improve assembly precision.
2. the method for assembly precision is improved on a kind of automatic assembly line according to claim 1, it is characterised in that：The step
Rapid one includes：
1a：The measure of power stopper；
1b：Machinery positioning precision.
3. the method for assembly precision is improved on a kind of automatic assembly line according to claim 1, it is characterised in that：The step
Rapid two include：
2a：Determine the relative position of robot and assembly center；
2b：Assembly precision is improved using the tutorial function of robot.
4. the method for assembly precision is improved on a kind of automatic assembly line according to claim 2, it is characterised in that：The step
Rapid 1a includes：Take following two measures：First is that two bounce cylinders are set up in wire body to produce cushioned resistance, is being accompanied
Before fixture is reached home at 0.09m, cushion dashpot leans on plug and heads on movable block on pull bar, at this moment producible cushioned resistance, make with
Row fixture is a significant slowdown；Second is that the air-channel system of pull bar power cylinder implements throttling while cushion dashpot produces cushioned resistance
Speed governing, and power cylinder also plays cushioning effect to pallet in itself at 0.03m before reaching home, and declines movement velocity.
5. the method for assembly precision is improved on a kind of automatic assembly line according to claim 2, it is characterised in that：The step
Rapid 1b includes：Take two measures for making pallet carry out pre-determined bit twice：It is friction pre-determined bit for the first time, in pallet
After disengaging motion-promotion force, its preshoot is constrained using additional frictional resistance, in wire body in the range of the preshoot area of pallet
Spring leaf is installed in the guide rail surface of both sides, implements pre-determined bit by frictional force caused by spring leaf and pallet contacts side surfaces;
It is to carry out pre-determined bit with dead buting iron for the second time, the front on the work top of each station at pallet positioning, installation one
Cam, leverage, when pallet slides forward under inertia force effect, leverage is passed through by the cam that pull bar is depressed
Dead buting iron is lifted, forces pallet to stop.
6. the method for assembly precision is improved on a kind of automatic assembly line according to claim 3, it is characterised in that：The step
Rapid 2a includes：The transmission mode of basic assembly parts is determined according to actual conditions, so as to obtain the transmission track of assembly center, and is made
Track is transmitted in the working range of robot, transmission track and the high intersection point for assembling successfully probability curve of robot, is
The position of assembly center in assembling work.
7. the method for assembly precision is improved on a kind of automatic assembly line according to claim 3, it is characterised in that：The step
Rapid 2b includes：When the rigging position teaching of robot is to theoretical assembly center O, a series of pallet and base thereon thereafter
When plinth assembly parts successively reach this station, its maximum positioning error occurred, minimum position error, OiNear O points minute
The axle center O ' to O of cloth, again teaching roboti, when workpiece so when each pallet and thereon is by this station, institute
The maximum positioning error of appearance is only that maximum positioning error subtracts OOi。
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| CN201710491466.XA CN107363492B (en) | 2017-06-26 | 2017-06-26 | The method of assembly precision is improved on a kind of automatic assembly line |
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| CN201710491466.XA CN107363492B (en) | 2017-06-26 | 2017-06-26 | The method of assembly precision is improved on a kind of automatic assembly line |
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| CN107363492A true CN107363492A (en) | 2017-11-21 |
| CN107363492B CN107363492B (en) | 2019-07-05 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0735564A2 (en) * | 1995-03-30 | 1996-10-02 | Ebara Corporation | Micro-processing apparatus and method therefor |
| CN102218652A (en) * | 2011-05-09 | 2011-10-19 | 无锡引域智能机器人有限公司 | Device and method for realizing axle hole assembly by utilizing flexibility of robot |
| CN104209731A (en) * | 2014-09-05 | 2014-12-17 | 南京邮电大学 | Fuzzy positioning based elastic shaft hole automated assembly device and assembly method thereof |
| CN104589358A (en) * | 2014-12-03 | 2015-05-06 | 安徽省库仑动力自动化科技有限公司 | Industrial robot disassembling dumping method based on force sensor and database comparison |
| CN205290347U (en) * | 2015-11-17 | 2016-06-08 | 富鼎电子科技(嘉善)有限公司 | Automatic assembly machine |
| CN105848837A (en) * | 2014-03-31 | 2016-08-10 | 索尼公司 | Industrial robot and frame unit thereof |
-
2017
- 2017-06-26 CN CN201710491466.XA patent/CN107363492B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0735564A2 (en) * | 1995-03-30 | 1996-10-02 | Ebara Corporation | Micro-processing apparatus and method therefor |
| CN102218652A (en) * | 2011-05-09 | 2011-10-19 | 无锡引域智能机器人有限公司 | Device and method for realizing axle hole assembly by utilizing flexibility of robot |
| CN105848837A (en) * | 2014-03-31 | 2016-08-10 | 索尼公司 | Industrial robot and frame unit thereof |
| CN104209731A (en) * | 2014-09-05 | 2014-12-17 | 南京邮电大学 | Fuzzy positioning based elastic shaft hole automated assembly device and assembly method thereof |
| CN104589358A (en) * | 2014-12-03 | 2015-05-06 | 安徽省库仑动力自动化科技有限公司 | Industrial robot disassembling dumping method based on force sensor and database comparison |
| CN205290347U (en) * | 2015-11-17 | 2016-06-08 | 富鼎电子科技(嘉善)有限公司 | Automatic assembly machine |
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| CN107363492B (en) | 2019-07-05 |
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