CN108406295A - Excavator pivoting support automatic screwing device - Google Patents
Excavator pivoting support automatic screwing device Download PDFInfo
- Publication number
- CN108406295A CN108406295A CN201810523799.0A CN201810523799A CN108406295A CN 108406295 A CN108406295 A CN 108406295A CN 201810523799 A CN201810523799 A CN 201810523799A CN 108406295 A CN108406295 A CN 108406295A
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- CN
- China
- Prior art keywords
- axis
- drive system
- control system
- tightening machine
- pivoting support
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—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 assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
Abstract
The invention discloses a kind of excavator pivoting support automatic screwing devices, belong to engineering machinery assembly field.Including action executing system, tightening machine part, image identification system and control system, action executing system controls X-axis drive system, Y-axis drive system and Z axis drive system by the command information that control system preset sequence is given and is acted along X-axis, Y-axis, Z axis；Tightening machine part is arranged in Z axis drive system, and bolt tightening operation is realized under control system control；Image identification system includes industrial camera, industrial personal computer, LED annular light sources, light source controller, image recognition software；Control system carries out coordinate computation after receiving the coordinates of all bolts, and bolt coordinate is transformed into action executing system institute in a coordinate system.The present invention is assembled for excavator pivoting support, can be ensured that assembling quality, realization tighten automation, be improved production efficiency and automation, reduce labor intensity, have higher promotional value.
Description
Technical field
The invention belongs to a kind of engineering machinery assembly equipments, specifically, more particularly to a kind of excavator pivoting support from
Dynamic device for screwing up.
Background technology
The assembly of excavator pivoting support is necessary process in excavator production process, and traditional assembly method is all artificial
It is tightened using manual torque spanner, pivoting support fixing bolt is more, and operator's labor intensity is big, and working efficiency is low, cannot
It is diagonally tightened according to technological requirement intersection, there are hidden danger of quality.
Invention content
It is an object of the present invention to provide a kind of excavator pivoting support automatic screwing devices, to overcome excavator in the prior art
Pivoting support is using operator's labor intensity is big, working efficiency is low, there are the defects of hidden danger of quality caused by manual assembly.
Realization that the present invention adopts the following technical solutions：
Excavator pivoting support automatic screwing device of the present invention, including action executing system, tightening machine part, figure
As identifying system and control system, the action executing system includes X-axis drive system, Y-axis drive system and Z axis driving system
System, Y-axis drive system are connected in X-axis drive system, and the Z axis drive system is connected in Y-axis drive system, the action
Execution system controls X-axis drive system, Y-axis drive system and Z axis by the command information that control system preset sequence is given and drives
Dynamic system is along X-axis, Y-axis, Z axis action；The tightening machine part is arranged in Z axis drive system, under control system control
Realize bolt tightening operation；Described image identifying system include industrial camera, industrial personal computer, LED annular light sources, light source controller,
Image recognition software, the industrial camera are connect by Ethernet with industrial personal computer, and the industrial personal computer is by Ethernet and control
System connection, industrial camera, which to pivoting support take pictures, captures image, and image recognition software handles the image of capture, transports
It calculates, analysis, is compared with template, identify the bolt location in image, and export each bolt in camera coordinates system
X, Y coordinates are to control system；The control system carries out coordinate computation after receiving the coordinates of all bolts, and bolt coordinate is turned
Change to action executing system institute in a coordinate system.
The X-axis drive system includes X-axis crossbeam, X-axis column, X-axis guide rail, X-axis slide block, X-axis gear, X-axis rack, X
Axis servo motor, X-axis speed reducer, the Y-axis drive system include Y-axis crossbeam, Y-axis guide rail, Y-axis sliding block, Y-axis gear, Y-axis tooth
Item, Y-axis servo motor, Y-axis speed reducer, the Z axis drive system include Z axis column, Z axis tightening machine mounting base, Z axis guide rail, Z
Axis sliding block, Z axis leading screw, Z axis shaft coupling, Z axis servo motor, Z axis speed reducer pass through X between the X-axis crossbeam and Y-axis crossbeam
Axis rail, X-axis slide block connection, X-axis speed reducer are connect by X-axis gear, X-axis rack with X-axis crossbeam, the Y-axis crossbeam and Z axis
It is connected by Y-axis guide rail, Y-axis sliding block between column, Y-axis speed reducer is connect by Y-axis gear, Y-axis rack with Y-axis crossbeam, institute
It states and is connected by Z axis guide rail, Z axis sliding block between Z axis column and Z axis tightening machine mounting base, Z axis speed reducer passes through Z axis leading screw, Z
Axis shaft coupling is connect with Z axis tightening machine mounting base.
The tightening machine part includes tightening machine controller, tightening machine gun body, sleeve.
The control system includes PLC, servo controller, barcode scanning gun, HIM man-machine interfaces and acoustooptic alarm system.
Compared with prior art, the beneficial effects of the invention are as follows：
Bolt location is accurately positioned by visual identity in the present invention, so that tightening machine part is accurately positioned by SERVO CONTROL,
Automatic tightening, torque reach after setting value automatic tightening residue bolt successively, carry out subregion cross-pair to pivoting support automatically
Angle is tightened, and is ensured that assembling quality, realization tighten automation, is improved production efficiency and automation, reduce labor intensity, have higher
Promotional value.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the control principle drawing of the present invention；
Fig. 3 is the image identification system schematic diagram of the present invention；
In figure：1, action executing system；2, tightening machine part；3, image identification system；4, control system；11, X-axis drives
System；12, Y-axis drive system；13, Z axis drive system.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, excavator pivoting support automatic screwing device of the present invention includes action executing system
1, tightening machine part 2, image identification system 3 and control system 4, the action executing system 1 include X-axis drive system 11, Y
Axis drive system 12 and Z axis drive system 13, Y-axis drive system 12 are connected in X-axis drive system 11, Z axis driving system
System 13 is connected in Y-axis drive system 12, and the action executing system 1 is believed by the instruction that 4 preset sequence of control system is given
Breath control X-axis drive system 11, Y-axis drive system 12 and Z axis drive system 13 are along X-axis, Y-axis, Z axis action；The tightening machine
Part 2 is arranged in Z axis drive system 13, and bolt tightening operation is realized under the control of control system 4；Described image identification system
System includes industrial camera, industrial personal computer, LED annular light sources, light source controller, image recognition software, the industrial camera by with
Too net is connect with industrial personal computer, and the industrial personal computer is connect by Ethernet with control system 4, and industrial camera claps pivoting support
According to image is captured, image recognition software handles the image of capture, operation, analysis, compared with template, identify figure
Bolt location as in, and X, Y coordinates of each bolt in camera coordinates system are exported to control system；The control system 4
Coordinate computation is carried out after receiving the coordinate of all bolts, bolt coordinate is transformed into 1 institute of action executing system in a coordinate system.
The X-axis drive system 11 include X-axis crossbeam, X-axis column, X-axis guide rail, X-axis slide block, X-axis gear, X-axis rack,
X-axis servo motor, X-axis speed reducer, the Y-axis drive system 12 include Y-axis crossbeam, Y-axis guide rail, Y-axis sliding block, Y-axis gear, Y
Axis rack, Y-axis servo motor, Y-axis speed reducer, the Z axis drive system 13 include Z axis column, Z axis tightening machine mounting base, Z axis
Guide rail, Z axis sliding block, Z axis leading screw, Z axis shaft coupling, Z axis servo motor, Z axis speed reducer, between the X-axis crossbeam and Y-axis crossbeam
It is connected by X-axis guide rail, X-axis slide block, X-axis speed reducer is connect by X-axis gear, X-axis rack with X-axis crossbeam, the Y-axis crossbeam
It is connect by Y-axis guide rail, Y-axis sliding block between Z axis column, Y-axis speed reducer is connected by Y-axis gear, Y-axis rack and Y-axis crossbeam
It connects, is connected by Z axis guide rail, Z axis sliding block between the Z axis column and Z axis tightening machine mounting base, Z axis speed reducer passes through Z axis silk
Thick stick, Z axis shaft coupling are connect with Z axis tightening machine mounting base.
The tightening machine part 2 includes tightening machine controller, tightening machine gun body, sleeve.
The control system 4 includes PLC, servo controller, barcode scanning gun, HIM man-machine interfaces and acoustooptic alarm system.
The present invention operation principle be：
After pivoting support reaches precalculated position, control system 4 sends a command to servo controller, the X of action executing system 1
Axis servo motor, Y-axis servo motor respectively drive X-axis drive system, Y-axis drive system, make the image being fixed on Z axis column
Identifying system is located at turn around bearing top, and after which reaches designated position, control system 4 sends a command to image identification system
3 carry out image recognition.
As shown in figure 3, image identification system 3, which controls light source controller, opens LED annular light sources, while industrial camera is to returning
Turn bearing and take pictures to capture image, image recognition software handles the image of capture, operation, analysis, carried out with template
Comparison, identifies the bolt location in image, and export X, Y coordinates of each bolt in camera coordinates system, after the completion of identification
Industrial camera by ICP/IP protocol will identify that come all bolt coordinate values be uploaded to PLC.
Control system 4 carries out coordinate computation after receiving the coordinates of all bolts, and bolt coordinate, which is transformed into action, to be executed
1 institute of system in a coordinate system, converts rear control system 4 and sends a command to servo controller, the X-axis of action executing system 1
Servo motor, Y-axis servo motor respectively drive X-axis, Y-axis movement, and the tightening machine gun body being fixed on Z axis column is made to reach first
Above a bolt coordinate, the control Z axis servo motor driving Z axis column of control system 4, which drops to preset height, makes tightening machine gun body
Sleeve be sleeved on bolt, control system 4 send a command to tighten machine controller driving tightening machine gun body carry out bolt tighten, twist
Tight machine is automatically stopped after reaching specified torque and starts signal to control system 4.
After first bolt of completion is tightened, control system 4 controls tightening machine and stops tightening operation, and Z axis column is made to drive
Tightening machine rises, and is detached from bolt, and control system 4 acts before being repeated according to next bolt coordinate, is sequentially completed all spiral shells
Bolt tightens work, tightens principle according to diagonal subregion in rundown process and tightens bolt successively.
Claims (4)
1. a kind of excavator pivoting support automatic screwing device, it is characterised in that：Including action executing system (1), tightening machine portion
Divide (2), image identification system (3) and control system (4),
The action executing system (1) includes X-axis drive system (11), Y-axis drive system (12) and Z axis drive system (13), Y
Axis drive system (12) is connected in X-axis drive system (11), and the Z axis drive system (13) is connected to Y-axis drive system
(12) on, the action executing system (1) controls X-axis driving system by the command information that control system (4) preset sequence is given
It unites (11), Y-axis drive system (12) and Z axis drive system (13) are along X-axis, Y-axis, Z axis action；
The tightening machine part (2) is arranged in Z axis drive system (13), realizes that bolt is twisted under control system (4) control
Tight operation；
Described image identifying system includes industrial camera, industrial personal computer, LED annular light sources, light source controller, image recognition software,
The industrial camera is connect by Ethernet with industrial personal computer, and the industrial personal computer is connect by Ethernet with control system (4), industry
Camera, which to pivoting support take pictures, captures image, image recognition software handles the image of capture, operation, analysis, with
Template is compared, and identifies the bolt location in image, and exports X, Y coordinates of each bolt in camera coordinates system to control
System processed；
The control system (4) carries out coordinate computation after receiving the coordinates of all bolts, and bolt coordinate, which is transformed into action, to be held
Row system (1) institute is in a coordinate system.
2. excavator pivoting support automatic screwing device according to claim 1, it is characterised in that：X-axis driving system
System (11) includes X-axis crossbeam, X-axis column, X-axis guide rail, X-axis slide block, X-axis gear, X-axis rack, X-axis servo motor, X-axis deceleration
Machine, the Y-axis drive system (12) include Y-axis crossbeam, Y-axis guide rail, Y-axis sliding block, Y-axis gear, Y-axis rack, Y-axis servo electricity
Machine, Y-axis speed reducer, the Z axis drive system (13) include Z axis column, Z axis tightening machine mounting base, Z axis guide rail, Z axis sliding block, Z
Axial filament thick stick, Z axis shaft coupling, Z axis servo motor, Z axis speed reducer pass through X-axis guide rail, X between the X-axis crossbeam and Y-axis crossbeam
Axis sliding block connects, and X-axis speed reducer is connect by X-axis gear, X-axis rack with X-axis crossbeam, between the Y-axis crossbeam and Z axis column
It is connected by Y-axis guide rail, Y-axis sliding block, Y-axis speed reducer is connect by Y-axis gear, Y-axis rack with Y-axis crossbeam, the Z axis column
Connect by Z axis guide rail, Z axis sliding block between Z axis tightening machine mounting base, Z axis speed reducer by Z axis leading screw, Z axis shaft coupling with
Z axis tightening machine mounting base connects.
3. excavator pivoting support automatic screwing device according to claim 1 or 2, it is characterised in that：The tightening machine
Partly (2) include tightening machine controller, tightening machine gun body, sleeve.
4. excavator pivoting support automatic screwing device according to claim 3, it is characterised in that：The control system
(4) include PLC, servo controller, barcode scanning gun, HIM man-machine interfaces and acoustooptic alarm system.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810165881 | 2018-02-28 | ||
| CN2018101658810 | 2018-02-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108406295A true CN108406295A (en) | 2018-08-17 |
Family
ID=63140688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810523799.0A Pending CN108406295A (en) | 2018-02-28 | 2018-05-28 | Excavator pivoting support automatic screwing device |
Country Status (1)
| Country | Link |
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| CN (1) | CN108406295A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048310A (en) * | 2018-09-19 | 2018-12-21 | 广州市安埗自动化设备有限公司 | Multistation the screwed lock equipment |
| CN109227104A (en) * | 2018-09-17 | 2019-01-18 | 常州数控技术研究所 | A kind of stubborn bolt method of moment of torsion control |
| CN109732334A (en) * | 2019-03-19 | 2019-05-10 | 安徽惠宁进出口有限公司 | A kind of insulating pot handle automatic mounting machine and its application method |
| CN110539146A (en) * | 2019-09-29 | 2019-12-06 | 河北新大地机电制造有限公司 | Automatic installation device and method for sandwich external wall panel heat-insulating layer connecting piece |
| CN113958751A (en) * | 2021-09-01 | 2022-01-21 | 安庆船用电器有限责任公司 | Solenoid valve case convenient to adjust |
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| CN201833165U (en) * | 2010-10-12 | 2011-05-18 | 上海英格索兰压缩机有限公司 | Four-axis automatic tightening machine used for tightening crawler |
| CN202846132U (en) * | 2012-10-08 | 2013-04-03 | 袁闰湖 | Computerized numerical control (CNC) automatic screw locking machine |
| CN203076882U (en) * | 2013-01-08 | 2013-07-24 | 刘有志 | Full-automatic screw hitting machine |
| CN103586679A (en) * | 2013-11-14 | 2014-02-19 | 重庆延锋江森汽车部件系统有限公司 | Automatic positioning and screwing mechanism of main and auxiliary seat frames and control method thereof |
| CN104924064A (en) * | 2015-07-08 | 2015-09-23 | 上海第二工业大学 | Automatic screw disassembling method and device based on visual positioning and torque control |
| CN105750892A (en) * | 2016-04-07 | 2016-07-13 | 内蒙古工业大学 | Automatic screw assembly-in-place detection system on basis of real-time image processing |
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Patent Citations (6)
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| CN201833165U (en) * | 2010-10-12 | 2011-05-18 | 上海英格索兰压缩机有限公司 | Four-axis automatic tightening machine used for tightening crawler |
| CN202846132U (en) * | 2012-10-08 | 2013-04-03 | 袁闰湖 | Computerized numerical control (CNC) automatic screw locking machine |
| CN203076882U (en) * | 2013-01-08 | 2013-07-24 | 刘有志 | Full-automatic screw hitting machine |
| CN103586679A (en) * | 2013-11-14 | 2014-02-19 | 重庆延锋江森汽车部件系统有限公司 | Automatic positioning and screwing mechanism of main and auxiliary seat frames and control method thereof |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227104A (en) * | 2018-09-17 | 2019-01-18 | 常州数控技术研究所 | A kind of stubborn bolt method of moment of torsion control |
| CN109227104B (en) * | 2018-09-17 | 2019-12-13 | 常州数控技术研究所 | torque control bolt screwing method |
| CN109048310A (en) * | 2018-09-19 | 2018-12-21 | 广州市安埗自动化设备有限公司 | Multistation the screwed lock equipment |
| CN109732334A (en) * | 2019-03-19 | 2019-05-10 | 安徽惠宁进出口有限公司 | A kind of insulating pot handle automatic mounting machine and its application method |
| CN110539146A (en) * | 2019-09-29 | 2019-12-06 | 河北新大地机电制造有限公司 | Automatic installation device and method for sandwich external wall panel heat-insulating layer connecting piece |
| CN113958751A (en) * | 2021-09-01 | 2022-01-21 | 安庆船用电器有限责任公司 | Solenoid valve case convenient to adjust |
| CN113958751B (en) * | 2021-09-01 | 2023-12-29 | 安庆船用电器有限责任公司 | Electromagnetic valve box convenient to adjust |
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Application publication date: 20180817 |