CN109382646A - The pre- full-automatic device for screwing up of wiring bolt in chassis - Google Patents
The pre- full-automatic device for screwing up of wiring bolt in chassis Download PDFInfo
- Publication number
- CN109382646A CN109382646A CN201811546227.0A CN201811546227A CN109382646A CN 109382646 A CN109382646 A CN 109382646A CN 201811546227 A CN201811546227 A CN 201811546227A CN 109382646 A CN109382646 A CN 109382646A
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- Prior art keywords
- bracket
- screwing
- positioning
- full
- processor
- Prior art date
- 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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- 238000000034 method Methods 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims 1
- 230000037431 insertion Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- B23P19/001—Article feeders for assembling machines
-
- 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
- B23P19/001—Article feeders for assembling machines
- B23P19/006—Holding or positioning the article in front of the applying tool
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention discloses the pre- full-automatic device for screwing up of wiring bolt in chassis, including AGV trolley, scaffold car, bottom bracket, the top floor for being installed on bottom floor, sensor, secondary positioning fixture, robot and processor.AGV trolley states scaffold car for holding, and drives scaffold car movement.Supporting plate is installed on scaffold car.The position is transmitted to the processor in the position of sensor monitor station unwheeling.In the case that processor is predeterminated position in the position, stop signal and positioning signal are generated, stop signal is transferred to the executing agency of AGV trolley so that AGV trolley stops.Positioning signal be transferred to the secondary positioning fixture so that secondary positioning fixture in XY to positioning the bottom top plate, processor tightens operation to gearbox and the engine execution for being located at the supporting plate also after by bottom top plate positioning, according to robot described in default Row control.
Description
Technical field
The present invention relates to the pre- full-automatic device for screwing up of wiring bolt of device for screwing up more particularly to chassis.
Background technique
In current auto industry field, technology is tightened using advanced full-automatic electric, can not only guarantee product
Tighten quality, raise labour productivity, while but also enterprise product manufacturing cost sharp fall, improve man-machine work
Journey shortens life cycle of the product.
Currently, technology is tightened in main engine factory, gearbox master using full-automatic electric by domestic automobile manufacturing enterprise
Machine factory and front-rear axle manufacturer implement, and a kind of situation is since the workpiece torque that need to be tightened is smaller, and quantity is more, so
Concentrate that automatically to tighten be more reasonable scheme, for example engine sump tank the cover is tightened by upper vapor mass engine works, and one
Secondary property need to tighten 16 bolts, significant increase working efficiency.Another kind is fixed since the installation site of bolt is in a plane
Position difficulty is lower, but tightens that bolt torque is larger, and operative employee's load is also accordingly promoted, and can greatly improve people using automatically tightening
Machine engineering, while there is also certain economic benefits, for example Shanghai Hui Zhong Phideon front-rear axle is automatically tightened, and maximum tightens torsion
Square is more than 200Nm.But it is irregular for the position of installation workpiece, and the positioning that torque is larger, for installation workpiece is installed
Design and accuracy guarantee have higher the case where requiring, and above scheme is unable to reach this requirement.
Summary of the invention
Problems solved by the invention is that existing device for screwing up not can guarantee precision and not be suitable for position irregularly and turn round
The biggish gearbox of square and engine are tightened.
To solve the above problems, the present invention provides a kind of pre- full-automatic device for screwing up of wiring bolt in chassis.The device includes
AGV trolley, scaffold car, bottom bracket, the top bracket for being installed on bottom bracket, sensor, secondary positioning fixture, robot and
Processor.The AGV trolley drives the scaffold car to move for carrying the scaffold car.The supporting plate is installed on scaffold car,
It is moved with scaffold car.The position is transmitted to the processor in the position of the sensor monitor station unwheeling.The processor is at this
In the case that position is predeterminated position, trolley control signal and positioning signal are generated, it is small that the trolley control signal is transferred to AGV
The executing agency of vehicle is so that AGV trolley stops；The positioning signal is transferred to the secondary positioning fixture so that secondary fixed
Position fixture positions the supporting plate, and the processor is also after by supporting plate positioning, according to default Row control
Operation is tightened to gearbox and the engine execution for being located at the supporting plate by robot.
In a kind of scheme, the secondary positioning fixture includes two brackets being oppositely arranged, and is provided with multi-directional ball on bracket,
It is provided with locating piece in the bottom bracket, the locating piece is opposite with the top bracket and has the positioning on inclined-plane and plane
Block, in obtuse angle, the multi-directional ball is stopped after moving along inclined-plane against realizing that Z-direction is fixed on the plane for the inclined-plane and plane
Position.
In a kind of scheme, the locating piece is trapezoidal.
In a kind of scheme, described device includes coarse positioning mechanism, which includes the bracket being oppositely arranged, often
Support arm in obtuse angle is provided on a bracket, the end of each support arm is provided with directive wheel, in the AGV moving of car mistake
The opposite sides of journey, the bottom top plate is resisted against on each directive wheel.
In a kind of scheme, the secondary positioning fixture includes the bracket being oppositely arranged, the cylinder being fixed on bracket, position
In the pin rod of the piston rod end of cylinder, the location hole in bottom bracket, the cylinder is stretched under the control of positioning signal
It grows and pin rod is made to be inserted into the location hole.
In a kind of scheme, the bottom of the bottom top plate is provided with spring mechanism, which includes four blocks,
Four compressed springs, four levers and fixed block, in supporting plate bottom, four blocks are arranged in supporting plate for the fixed block setting
Bottom and four sides for being located at the fixed block, the both ends of each lever are separately connected the fixed block and a block and are cased with
One compressed spring.
Compared with prior art, the present invention has at least the following advantages:
1, since the covering device has secondary positioning fixture, the fixation of tri- positions X, Y, Z is realized by the secondary positioning,
Robot only need to plan run trace according to the difference of product digital-to-analogue, realize the demand that irregular bolt location is tightened.
2, since torque is more than 100Nm, manually tightening need to be reduced original upper part of gear box bolt using reaction force bar
Worker's joint mechanics degree, and without considering the problem after using fine positioning and being tightened using robot, it is only necessary to consider robot
The 6th axis meet the maximum opposition of torque.
Detailed description of the invention
Fig. 1 is the schematic diagram of the integrated tooling of the pre- wiring in chassis of the present invention；
Fig. 2 is the schematic diagram of the pre- full-automatic device for screwing up of wiring bolt in chassis of the present invention；
Fig. 3 is the partial enlarged view of part A in Fig. 2；
Fig. 4 is the main view of the pre- full-automatic device for screwing up of wiring bolt in chassis shown in this Fig. 2；
Fig. 5 is the cross-sectional view of the pre- full-automatic device for screwing up of wiring bolt in chassis shown in Fig. 4；
Fig. 6 is the enlarged drawing of part B in Fig. 5, focuses on display rough positioning device；
Fig. 7 be along Fig. 5 D-D to cross-sectional view, illustrate locating piece emphatically.
Specific embodiment
By the technology contents that the present invention will be described in detail, construction feature, reached purpose and efficacy, below in conjunction with embodiment
And attached drawing is cooperated to be described in detail.
Fig. 1 to Fig. 7 is please referred to, the inventive system comprises AGV trolley 1, scaffold car 2, bottom bracket 31, is installed on bottom
The top bracket 32 of supporting plate 31, sensor, the bracket 4 being oppositely arranged, rough positioning device, secondary positioning fixture 6, robot (7a,
7b), robot control cabinet (8a, 8b), charging station 9 and processor.The walking rail of robot is write and controlled to robot control cabinet
Mark, while exchanging information with the PLC of master control, track movement is performed the next step after meeting corresponding conditions.The AGV trolley 1 is used for
The scaffold car 2 is carried, scaffold car 2 is driven to move along default route.The bottom bracket 31 is installed on the scaffold car 2,
It moves and moves with the scaffold car 2.The top bracket 32 is installed on bottom bracket 31, for carrying engine and speed change
Case, in the present embodiment, top bracket 32 are connect by bearing with bottom bracket 31.The sensor is small for detecting AGV
The position is transmitted to the processor in the position of vehicle 1 (or scaffold car 2).The processor is receiving sensor detection
Behind position, judge whether the position is equal with preset position, if equal, has shown AGV trolley 1 (or scaffold car 2)
It moves to designated position to need to stop, at this point, processor generates the execution that trolley control signal control signal is transferred to trolley
Mechanism stops AGV trolley, if unequal, shows that AGV trolley does not move to designated position also, processor generates control letter
Number control AGV trolley 1 continues movement until the position that detects is equal with predeterminated position.Described device further includes being oppositely arranged
Bracket 4 is provided with support arm 41 in obtuse angle on each bracket 4.Directive wheel 42 is provided on each support arm 41.In this hair
In bright, the top surface of bottom top plate 31 refers to the surface for carrying the top bracket 32.The surface of the supporting plate 32 is for carrying the hair
Motivation and gearbox, bottom refer to the surface opposite with 31 top surface of bottom top plate.Particularly, the opposite edges setting of bottom bracket 31
Locating piece 5, the locating piece 5 have inclined-plane 51 and plane 52, and inclined-plane 51 and plane 52 constitute obtuse angle.It is provided on the bracket 4
Multi-directional ball 22.Fig. 7 arrow illustrates the direction of motion of scaffold car 2.The multi-directional ball 22 moves to the plane 52 along inclined-plane
And be resisted against between the plane 52 and bracket 4, thus, realize the positioning of Z-direction.As an implementation, the positioning
Block is T-shaped block.
Referring to Fig. 3, described device includes rough positioning device.The rough positioning device includes the support arm 41 and directive wheel
42, in the AGV moving of car process, the opposite sides of the bottom top plate 31 is resisted against on each directive wheel 42, is realized
Coarse positioning.After coarse positioning, the present invention is accurately positioned the bottom top plate 31 by secondary positioning fixture.Described two
Secondary positioning fixture 6 includes the bracket 4 being oppositely arranged, the cylinder 61 being fixed on bracket 4, positioned at the piston rod end to cylinder
Pin rod 62, the location hole 63 positioned at bottom top plate 31.The cylinder 61 extends under the control of positioning signal and makes pin rod 62
Be inserted into the location hole 63, as a result, scaffold car will not in XY to movement, realize XY to positioning, to move the scaffold car 2
When, the pin rod 62 of the cylinder shrinks and is detached from the location hole 63, then, give trolley control instruction and make scaffold car from
Open the position.
By positioning the bottom top plate 21 in X, Y and Z-direction, in this way, AGV trolley 1 is missed from the position for running to stopping
Difference can control in ± 10mm, and the error of X and Y-direction meets required precision.
Referring to Fig. 4, the supporting plate bottom is provided with spring mechanism 10, which includes four blocks 101, four
102, four levers 103 of a compressed spring and fixed block 104, the fixed block are arranged in the bottom of bottom bracket 31, and described four
A block is arranged in supporting plate bottom and is located at four sides of the fixed block, and the both ends of each lever are separately connected the fixed block
With a block and be cased with a compressed spring.The intersection of two bar of arbitrary neighborhood is in 90 degree in four bars, it will be understood that,
Four bars are equivalent to the X forward direction of coordinate system, X negative sense, Y forward direction and Y negative sense.
Fig. 1 to Fig. 5 is please referred to, the course of work of the present invention is as follows:
Firstly, AGV trolley 1 drives scaffold car 2 to move along desired guiding trajectory, and during the motion, the bottom on scaffold car 2
The opposite sides of portion's supporting plate 31 is directed to 42 guiding of wheel and continues to move, realize the thick of scaffold car (supporting plate) against directive wheel 42
Positioning；
Then, the sensor detects the current location of the scaffold car 2, and the location transmission that will test is to processor.
The processor compares the position and the position that prestores, in the position and in the unequal situation in position that prestores, generates movement
Instruction generates halt instruction, jacking instruction and positioning instruction in the case where equal with the position prestored in the position.The AGV
Trolley receives the move and continues to move to until the processor generates halt instruction.The AGV trolley stops described in receiving
Only instruct and stop motion.The jacking cylinder receives the jacking instruction and the piston rod of cylinder is protruded into the groove
(trapezoid block protrudes into dovetail groove) realizes Z-direction positioning.
Then, the cylinder makes respective pin rod protrude into the positioning of bottom top plate 31 under the control of the positioning instruction
X is realized in hole to the positioning with Y-direction, in this way, realizing the precise positioning of supporting plate by X, Y, Z-direction.
Then, charging station 9 stretches out charging arm and starts to charge；
Finally, processor controls the robot (7a, 7b) to hair according to the run trace write in robot control cabinet
Operation is tightened in motivation and gearbox execution.
Claims (6)
1. the pre- full-automatic device for screwing up of wiring bolt in chassis, which is characterized in that including AGV trolley, scaffold car, bottom bracket, peace
Top bracket, sensor, secondary positioning fixture, robot and processor loaded on bottom bracket, wherein
The AGV trolley drives the scaffold car to move for carrying the scaffold car；
The supporting plate is installed on scaffold car, moves with scaffold car；
The position is transmitted to the processor in the position of the sensor monitor station unwheeling；
In the case that the processor is predeterminated position in the position, trolley control signal and positioning signal, the trolley are generated
Control signal is transferred to the executing agency of AGV trolley so that AGV trolley stops；The positioning signal is transferred to described secondary fixed
Position fixture is so that secondary positioning fixture is also determined by the bottom top plate in XY to the bottom top plate, the processor is positioned
Behind position, operation is tightened to gearbox and the engine execution for being located at the supporting plate according to robot described in default Row control.
2. the pre- full-automatic device for screwing up of wiring bolt in chassis according to claim 1, which is characterized in that the secondary positioning
Fixture includes two brackets being oppositely arranged, and multi-directional ball is provided on each bracket, is provided with locating piece in the bottom bracket, should
Locating piece is opposite with the top bracket and has the locating piece on inclined-plane and plane, and the inclined-plane and plane are in obtuse angle, described universal
Ball moved along inclined-plane after stop against on the plane and realize Z-direction position.
3. the pre- full-automatic device for screwing up of wiring bolt in chassis according to claim 2, which is characterized in that the locating piece is in
It is trapezoidal.
4. the pre- full-automatic device for screwing up of wiring bolt in chassis according to claim 1, which is characterized in that described device includes
Coarse positioning mechanism, the coarse positioning mechanism include the bracket being oppositely arranged, and support arm in obtuse angle are provided on each bracket, each
The end of support arm is provided with directive wheel, is resisted against often in the opposite sides of the AGV moving of car process, the bottom top plate
On one directive wheel.
5. according to claim 1 to the pre- full-automatic device for screwing up of wiring bolt in chassis described in wantonly 1 in 4, which is characterized in that institute
Stating secondary positioning fixture includes the bracket being oppositely arranged, the cylinder being fixed on bracket, the pin positioned at the piston rod end of cylinder
Bar, the location hole in bottom bracket, the cylinder extend under the control of positioning signal and make pin rod insertion described fixed
Position hole.
6. the pre- full-automatic device for screwing up of wiring bolt in chassis according to claim 1, which is characterized in that the bottom top plate
Bottom be provided with spring mechanism, the spring mechanism include four blocks, four compressed springs, four levers and fixed block, institute
It states fixed block to be arranged in supporting plate bottom, four blocks are arranged in supporting plate bottom and are located at four sides of the fixed block, each
The both ends of root lever are separately connected the fixed block and a block and are cased with a compressed spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811546227.0A CN109382646B (en) | 2018-12-17 | 2018-12-17 | Full-automatic screwing device for chassis preassembled line bolt |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811546227.0A CN109382646B (en) | 2018-12-17 | 2018-12-17 | Full-automatic screwing device for chassis preassembled line bolt |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109382646A true CN109382646A (en) | 2019-02-26 |
| CN109382646B CN109382646B (en) | 2024-09-03 |
Family
ID=65430575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811546227.0A Active CN109382646B (en) | 2018-12-17 | 2018-12-17 | Full-automatic screwing device for chassis preassembled line bolt |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109382646B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253270A (en) * | 2019-06-24 | 2019-09-20 | 周凯 | A kind of steel tube tower bolt automatic assembling machine |
| WO2021012606A1 (en) * | 2019-07-25 | 2021-01-28 | 陕西科技大学 | High-precision movable robot secondary positioning device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004052740A1 (en) * | 2004-10-30 | 2006-05-04 | Daimlerchrysler Ag | Method for automated assembly of construction unit involves assembly mechanism for execution of reversible shifting movement between resting position and assembly position along axis of assembly movement |
| CN204124719U (en) * | 2014-09-25 | 2015-01-28 | 广运机电(苏州)有限公司 | The position fixing system of Shuttling trolley |
| CN105312893A (en) * | 2015-11-04 | 2016-02-10 | 温州兴机电器有限公司 | Semi-automatic nut assembling equipment for idler wheels and chassis truck |
| CN206395343U (en) * | 2016-12-06 | 2017-08-11 | 上海君屹工业自动化股份有限公司 | AGV trolley positioning mechanisms |
| CN107146907A (en) * | 2017-05-23 | 2017-09-08 | 潘延庆 | A kind of PAKE assembly lines support holder structure |
| CN206795212U (en) * | 2017-03-17 | 2017-12-26 | 施尔奇汽车系统（沈阳）有限公司 | A kind of seat basin assembles automatic screwing device |
| CN209288698U (en) * | 2018-12-17 | 2019-08-23 | 上海联晟汽车配套服务有限公司 | The pre- full-automatic device for screwing up of wiring bolt in chassis |
-
2018
- 2018-12-17 CN CN201811546227.0A patent/CN109382646B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004052740A1 (en) * | 2004-10-30 | 2006-05-04 | Daimlerchrysler Ag | Method for automated assembly of construction unit involves assembly mechanism for execution of reversible shifting movement between resting position and assembly position along axis of assembly movement |
| CN204124719U (en) * | 2014-09-25 | 2015-01-28 | 广运机电(苏州)有限公司 | The position fixing system of Shuttling trolley |
| CN105312893A (en) * | 2015-11-04 | 2016-02-10 | 温州兴机电器有限公司 | Semi-automatic nut assembling equipment for idler wheels and chassis truck |
| CN206395343U (en) * | 2016-12-06 | 2017-08-11 | 上海君屹工业自动化股份有限公司 | AGV trolley positioning mechanisms |
| CN206795212U (en) * | 2017-03-17 | 2017-12-26 | 施尔奇汽车系统（沈阳）有限公司 | A kind of seat basin assembles automatic screwing device |
| CN107146907A (en) * | 2017-05-23 | 2017-09-08 | 潘延庆 | A kind of PAKE assembly lines support holder structure |
| CN209288698U (en) * | 2018-12-17 | 2019-08-23 | 上海联晟汽车配套服务有限公司 | The pre- full-automatic device for screwing up of wiring bolt in chassis |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253270A (en) * | 2019-06-24 | 2019-09-20 | 周凯 | A kind of steel tube tower bolt automatic assembling machine |
| WO2021012606A1 (en) * | 2019-07-25 | 2021-01-28 | 陕西科技大学 | High-precision movable robot secondary positioning device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109382646B (en) | 2024-09-03 |
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