CN109483580B - Shaft part assembling cooperative robot system - Google Patents
Shaft part assembling cooperative robot system Download PDFInfo
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- CN109483580B CN109483580B CN201811634945.3A CN201811634945A CN109483580B CN 109483580 B CN109483580 B CN 109483580B CN 201811634945 A CN201811634945 A CN 201811634945A CN 109483580 B CN109483580 B CN 109483580B
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- 239000012636 effector Substances 0.000 claims abstract description 33
- 241000282414 Homo sapiens Species 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 27
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 description 18
- 238000010009 beating Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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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
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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
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Abstract
The invention discloses a shaft part assembling cooperative robot system which comprises a workbench and a mechanical arm, wherein an end effector used for assembling shaft parts into corresponding holes is arranged on the mechanical arm, a bin used for storing the shaft parts is arranged on one side of the workbench, a clamping tool used for clamping a workpiece of the shaft parts to be assembled, a first industrial camera used for detecting whether the workpiece is clamped on the clamping tool in real time, and a laser scanner used for detecting the position of a human body and the position of the end effector are arranged on the workbench; the end effector comprises an effector body, the front end of the effector body is provided with an assembling oil cylinder, and a piston rod of the assembling oil cylinder extends out of the front end of the effector body; and a valve group for controlling the assembly oil cylinder to beat is arranged at the rear end of the actuator body. The shaft part assembling cooperative robot system disclosed by the invention not only can be cooperatively interacted with a human, but also can meet the assembling requirements of clearance fit and interference fit between a shaft and a hole.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a robot system for assembling and cooperating shaft parts.
Background
A cooperative robot (cobot) is a robot designed to interact with human beings in a common working space in a short distance. At present, most industrial robots are designed to operate automatically or under limited guidance, and therefore do not consider the close interaction with human beings, and do not consider the safety protection of surrounding human beings, which are all functions that need to be considered by a cooperative robot.
For the assembly of shaft parts, the prior art generally adopts a cylinder or a hydraulic cylinder to directly press the shaft parts in holes, and for example, a chinese patent with publication number CN206966980U discloses a pin shaft assembly mechanism, which specifically comprises the following technical scheme: comprises a base and a bottom plate; the device also comprises a material taking mechanism, a material pressing mechanism, a guide mechanism and a material pushing mechanism; the material pressing mechanism comprises a material pressing cylinder, a material pressing fixed block and a material pressing linear module; the material pressing cylinder is fixed on the material pressing linear module through the material pressing base; the pressing air cylinder pushes the pressing fixing block to move through the pressing floating joint; the material pushing mechanism comprises an ejection cylinder, an ejection rod fixing block, an ejection rod and a material pushing linear module; the ejection cylinder is fixed on the material pushing linear module; the ejection cylinder pushes an ejection rod fixed on the ejection rod fixing block to move; the guide mechanism comprises a guide linear module, a guide shaft and a motor; the motor is fixed on the guide linear module and drives the guide shaft to rotate through a transmission mechanism; the material pressing linear module, the material taking mechanism, the guiding linear module and the material pushing linear module are fixed on the bottom plate, and the material pushing mechanism and the guiding mechanism are positioned on two sides of the material pressing mechanism; the bottom plate is fixed on the base through a displacement mechanism.
This round pin axle assembly devices adopts the cylinder directly to assemble the round pin axle downthehole, to the clearance fit's between round pin axle and the hole condition, its requirement that can satisfy the assembly, however, if round pin axle and hole interference fit when, this round pin axle assembly devices can't satisfy the assembly requirement. When axle and hole interference fit, generally adopt artifical mode to assemble among the prior art, during manual assembly, generally adopt the mode of beating to assemble the axle to the hole in gradually. Similarly, for a cooperative robot, the existing shaft hole assembly mechanism cannot be assembled in a way that completely meets the use requirement, and therefore a new end effector is needed to simulate a manual hammering type assembly way.
Disclosure of Invention
In view of this, the invention aims to provide a shaft part assembling and cooperating robot system, which not only can cooperate and interact with people, but also can meet the assembling requirements of clearance fit and interference fit between a shaft and a hole.
In order to achieve the purpose, the invention provides the following technical scheme:
a shaft part assembling cooperative robot system comprises a workbench and a mechanical arm, wherein an end effector used for assembling shaft parts into corresponding holes is arranged on the mechanical arm, a bin used for storing the shaft parts is arranged on one side of the workbench, a clamping tool used for clamping the shaft parts to be assembled, a first industrial camera used for detecting whether the clamping tool is clamped with the shaft parts in real time and a laser scanner used for detecting the position of a human body and the position of the end effector are arranged on the workbench;
the end effector comprises an effector body, the front end of the effector body is provided with an assembling oil cylinder, and a piston rod of the assembling oil cylinder extends out of the front end of the effector body; the rear end of the actuator body is provided with a valve group for controlling the assembly oil cylinder to beat;
the valve group comprises two hammering control valves, each hammering control valve comprises a valve body, and a valve core in rotary fit with the valve body is arranged in the valve body in an sleeved mode;
the valve body is provided with a first oil inlet, a second oil inlet, a first oil return opening and a second oil return opening, the axes of the first oil inlet and the second oil inlet are both positioned on the same radial cross section of the valve body, and the axes of the first oil return opening and the second oil return opening are both positioned on the same radial cross section of the valve body;
the valve core comprises a valve core shaft, a first valve core sleeve and a second valve core sleeve are arranged on the valve core shaft, and annular grooves are respectively arranged between the first valve core sleeve and the valve core shaft and between the second valve core sleeve and the valve core shaft; a first oil inlet groove and a second oil inlet groove are formed in the first valve core sleeve, and when the first oil inlet groove is communicated with the first oil inlet, the second oil inlet groove is communicated with the second oil inlet; a first oil return groove and a second oil return groove are formed in the second valve spool sleeve, and when the first oil return groove is communicated with the first oil return port, the second oil return groove is communicated with the second oil return port; when the first oil inlet groove is communicated with the first oil inlet, the first oil return groove is disconnected from the first oil return port; when the first oil return groove is communicated with the first oil return port, the first oil inlet groove is disconnected from the first oil inlet;
in the two hammering control valves, when the first oil inlet groove of one hammering control valve is communicated with the first oil inlet, the first oil return groove of the other hammering control valve is communicated with the first oil return port; when the first oil return groove of one of the hammering control valves is communicated with the first oil return port, the first oil inlet groove of the other hammering control valve is communicated with the first oil inlet;
an oil inlet channel for communicating first oil inlets of the two hammering control valves and an oil return channel for communicating first oil return ports of the two hammering control valves are arranged in the actuator body; a second oil inlet and a second oil return port of one of the hammering control valves are communicated with a rodless cavity of the assembling oil cylinder, and a second oil inlet and a second oil return port of the other hammering control valve are communicated with a rod cavity of the assembling oil cylinder;
the actuator comprises an actuator body, a valve core and a driving mechanism, wherein a spline groove is formed in one end of the valve core, a driving rod in sliding fit with the spline groove is arranged in the spline groove in an sleeved mode, a linear motor used for driving the valve core to move axially along the driving rod is arranged in the actuator body, and the driving mechanism used for driving the two driving rods to rotate synchronously is arranged in the actuator body.
Furthermore, the driving mechanism comprises a speed reducing motor fixedly installed in the actuator body, a driving gear is arranged on an output shaft of the speed reducing motor, driven gears meshed with the driving gear are respectively arranged on the two transmission rods, and the transmission ratios between the two driven gears and the driving gear are equal.
Furthermore, a first communicating channel for communicating a rodless cavity of the assembling oil cylinder with a second oil inlet and a second oil return port of one of the hammering control valves and a second communicating channel for communicating a rod cavity of the assembling oil cylinder with a second oil inlet and a second oil return port of the other hammering control valve are arranged in the actuator body.
Further, the spline groove is arranged at the rear end of the valve core; the outer peripheral wall of the spline groove is provided with a shaft collar which extends outwards in the radial direction, and the output shaft of the linear motor is provided with a shifting fork matched with the shaft collar.
Furthermore, the rear end of the actuator body is provided with a rear end cover, and the rear end face of the rear end cover is provided with a connector used for being connected with the cooperative robot.
Furthermore, the front end of the actuator body is provided with a front end cover, and the front end cover is provided with a through hole corresponding to the piston rod of the assembling oil cylinder.
Further, one side fixed mounting of front end housing is equipped with the finger cylinder, install respectively on two fingers of finger cylinder and be equipped with the centre gripping arm, two the centre gripping arm one side in opposite directions corresponds and is equipped with the centre gripping groove, and when two when the centre gripping groove is closed form with the coaxial centre gripping hole that is used for centre gripping axle class spare of piston rod of assembly hydro-cylinder.
Furthermore, a second industrial camera used for collecting shaft assembly images in real time is fixedly arranged on the other side of the front end cover.
Furthermore, a hammering head is arranged on a piston rod of the assembling oil cylinder.
Furthermore, the axes of the first oil inlet and the second oil inlet of the same hammering control valve are coaxial, the axes of the first oil return port and the second oil return port of the same hammering control valve are coaxial, and the axis of the first oil inlet of the same hammering control valve and the axis of the first oil return port are located on the same axial cross section of the valve body; the first oil inlet groove and the second oil inlet groove are annularly arranged on the same radial direction of the first valve core sleeve, the first oil return groove and the second oil return groove are annularly and uniformly distributed on the same radial direction of the second valve core sleeve, the axial view direction of the valve core is in the same direction, and the radial direction of the first oil inlet groove and the radial direction of the second oil inlet groove are perpendicular to the radial direction of the first oil return groove and the radial direction of the second oil return groove.
The invention has the beneficial effects that:
the invention discloses a shaft part assembling cooperative robot system, which comprises the following cooperative processes: when the first industrial camera detects that a workpiece is clamped on the clamping tool, the mechanical arm acts and clamps the shaft part placed in the bin, and the shaft part is assembled into the workpiece by using the end effector; after the shaft parts are assembled, an operator takes down the workpieces, and at the moment, the first industrial camera detects that the workpieces are not clamped on the clamping tool and the mechanical arm does not act; after an operator clamps a new workpiece of the shaft part to be assembled on the clamping tool, the first industrial camera detects that the workpiece is clamped on the clamping tool, and the shaft part assembling action is repeated; the laser scanner is arranged on the workbench to detect the positions of the human body and the mechanical arm, and when the distance between an operator and the mechanical arm and the end effector is smaller than a set threshold value, the mechanical arm acts to avoid the position of the human body, so that the operator is prevented from being injured;
specifically, the principle of the end effector is as follows: the valve cores of the two hammering control valves are respectively adjusted to axially move by using a linear motor, so that the flow area between the first oil inlet grooves and the first oil inlets of the two hammering control valves is adjusted, and the flow area between the second oil inlet grooves and the second oil inlets, the flow area between the first oil return grooves and the first oil return ports and the flow area between the second oil return grooves and the second oil return ports of the same hammering control valve are equal to the flow area between the first oil inlet grooves and the first oil inlets (hereinafter referred to as flow areas); therefore, the flow area of the two hammering control valves can be independently adjusted;
when the shaft part and the hole are in interference fit and the shaft part needs to be beaten for assembly, the linear motor is utilized to adjust the flow area A of a beating control valve of which the second oil inlet and the second oil return port are both connected with a rodless cavity of the assembly oil cylinder1And the cross-sectional area S of rodless cavity1The ratio of the first oil inlet to the second oil return port is larger than the flow area A of the hammering control valve of which the second oil inlet and the second oil return port are both connected with the rod cavity of the assembly oil cylinder2And the cross-sectional area S of the rod cavity2The ratio between, i.e. A1/S1＞A2/(S1-S0) Wherein S is2＝S1-S0，S0The cross section area of the piston rod is the cross section area, so that when a first oil inlet of a hammering control valve connected with the rodless cavity is communicated with a first oil inlet groove, a first oil return port of the hammering control valve connected with the rod cavity is communicated with a first oil return groove, the rodless cavity of the assembled oil cylinder is filled with oil, the rod cavity returns oil, the piston rod moves forwards, and the shaft part is hammered; the driving mechanism drives the valve core to rotate, when a first oil return port of the hammering control valve connected with the rodless cavity is communicated with the first oil return groove, a first oil inlet of a rotation control valve connected with the rod cavity is communicated with the first oil inlet groove, at the moment, the rodless cavity of the assembled oil cylinder returns oil, the rod cavity takes oil, the piston rod moves backwards, and the piston rod retracts after being hammered once; the forward hammering stroke of the piston rod is larger than the retracting stroke, so that the driving mechanism drives the valve element to continue rotating, the piston rod can forward hammer the shaft part for one time and for several times until the shaft part is completely assembled in the corresponding hole, and the technical purpose of hammering assembly of the shaft part is realized;
when the shaft part is in clearance fit with the hole, a first oil inlet of a hammering control valve connected with the rodless cavity is directly controlled to be communicated with a first oil inlet groove, a first oil return port of the hammering control valve connected with the rod cavity is communicated with a first oil return groove, at the moment, the rodless cavity of the assembly oil cylinder is filled with oil, the rod cavity returns oil, the piston rod moves forwards, and the shaft part is directly assembled into the hole; of course, at this time, a hammering type assembly can be adopted, the principle of the hammering type assembly is equivalent to that of interference fit, and the hammering type assembly is not described;
in conclusion, the shaft part assembling cooperative robot system can achieve the technical purpose of man-machine cooperative operation, can meet the assembling of shaft parts in clearance fit like a traditional shaft pin assembling mechanism, can control an assembling oil cylinder to do hammering type movement by arranging the valve group, can simulate manual hammering action, and meets the technical purpose of assembling shaft parts in interference fit.
Drawings
In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
FIG. 1 is a schematic structural diagram of a shaft assembly cooperative robot system according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of an end effector;
fig. 3 is a detail a of fig. 2.
Description of reference numerals:
1-an actuator body; 2, assembling an oil cylinder; 3-beating a control valve; 4-a valve body; 5-valve core; 6-a first oil inlet; 7-a second oil inlet; 8-a first oil return port; 9-a second oil return port; 10-a first spool sleeve; 11-a second spool housing; 12-an oil inlet channel; 13-an oil return passage; 14-spline grooves; 15-a transmission rod; 16-a linear motor; 17-a reduction motor; 18-a drive gear; 19-a driven gear; 20-a first communication channel; 21-a second communication channel; 22-a collar; 23-a shifting fork; 24-a rear end cap; 25-a connector; 26-front end cap; 27-finger cylinder; 28-a gripper arm; 29-beating head; 30-a workbench; 31-a robotic arm; 32-a storage bin; 33-clamping a tool; 34-a first industrial camera; 35-laser scanner; 36-a second industrial camera; 37-an end effector; a shaft part.
Detailed Description
The present invention is further described with reference to the following drawings and specific examples so that those skilled in the art can better understand the present invention and can practice the present invention, but the examples are not intended to limit the present invention.
Fig. 1 is a schematic structural diagram of a shaft assembly cooperative robot system according to an embodiment of the present invention. The shaft part assembling cooperative robot system comprises a workbench 30 and a mechanical arm 31, wherein an end effector 37 used for assembling a shaft part 38 into a corresponding hole is arranged on the mechanical arm 31, a bin 32 used for storing the shaft part is arranged on one side of the workbench 30, a clamping tool 33 used for clamping a workpiece to be assembled on the workbench 30, a first industrial camera 34 used for detecting whether the workpiece is clamped on the clamping tool 33 in real time, and a laser scanner 35 used for detecting the position of a human body and the position of the end effector are arranged on the workbench 30. The laser scanners 35 of the present embodiment are dispersedly disposed on the table 30 in a plurality to avoid the existence of scanning blind spots, and the laser scanners 35 of the present embodiment are disposed in two and respectively located on both sides of the table 30.
The end effector of the embodiment comprises an effector body 1, an assembly oil cylinder 2 is arranged at the front end of the effector body 1, a piston rod of the assembly oil cylinder 2 extends out of the front end of the effector body 1, and a hammering head 29 is arranged on the piston rod of the assembly oil cylinder 2, so that the technical purpose of hammering and assembling shaft parts is achieved. And a valve group for controlling the hammering movement of the assembling oil cylinder 2 is arranged at the rear end of the actuator body 1. The valve bank comprises two hammering control valves 3, each hammering control valve 3 comprises a valve body 4, and a valve core 5 which is in rotary fit with the valve body 4 is sleeved in the valve body 4.
The valve body 4 is provided with a first oil inlet 6, a second oil inlet 7, a first oil return opening 8 and a second oil return opening 9, the axes of the first oil inlet 6 and the second oil inlet 7 are both positioned on the same radial cross section of the valve body 4, and the axes of the first oil return opening 8 and the second oil return opening 9 are both positioned on the same radial cross section of the valve body 4.
The valve core 5 comprises a valve core shaft, a first valve core sleeve 10 and a second valve core sleeve 11 are arranged on the valve core shaft, and annular grooves are respectively arranged between the first valve core sleeve 10 and the valve core shaft and between the second valve core sleeve 11 and the valve core shaft; the first valve core sleeve 10 is provided with a first oil inlet groove and a second oil inlet groove, and when the first oil inlet groove is communicated with the first oil inlet 6, the second oil inlet groove is communicated with the second oil inlet 7; the second valve core sleeve 11 is provided with a first oil return groove and a second oil return groove, and when the first oil return groove is communicated with the first oil return port 8, the second oil return groove is communicated with the second oil return port 9; when the first oil inlet groove is communicated with the first oil inlet 6, the first oil return groove is disconnected with the first oil return port 8; when the first oil return groove is communicated with the first oil return port 8, the first oil inlet groove is disconnected from the first oil inlet 6.
In the two hammering control valves 3, when the first oil inlet groove of one hammering control valve 3 is communicated with the first oil inlet 6, the first oil return groove of the other hammering control valve 3 is communicated with the first oil return port 8; when the first oil return groove of one of the hammering control valves 3 is communicated with the first oil return port 8, the first oil inlet groove of the other hammering control valve 3 is communicated with the first oil inlet 6.
An oil inlet channel 12 for communicating the first oil inlets 6 of the two hammering control valves 3 and an oil return channel 13 for communicating the first oil return ports 8 of the two hammering control valves 3 are arranged in the actuator body 1; the second oil inlet 7 and the second oil return port 9 of one of the hammering control valves 3 are both communicated with a rodless cavity of the assembling oil cylinder 2, and the second oil inlet 7 and the second oil return port 9 of the other hammering control valve 3 are both communicated with a rod cavity of the assembling oil cylinder 2. Specifically, the actuator body 1 of the embodiment is provided with a first communication channel 20 for communicating the rodless cavity of the assembly cylinder 2 with the second oil inlet 7 and the second oil return port 9 of one of the hammering control valves 3, and a second communication channel 21 for communicating the rod cavity of the assembly cylinder 2 with the second oil inlet 7 and the second oil return port 9 of the other hammering control valve 3.
One end of the valve core 5 is provided with a spline groove 14, a transmission rod 15 which is in sliding fit with the spline groove 14 in a single degree of freedom is arranged in the spline groove 14, a linear motor 16 which is used for driving the valve core 5 to move along the axial direction of the transmission rod 15 is arranged in the actuator body 1, and a driving mechanism which is used for driving the two transmission rods 15 to rotate synchronously is arranged in the actuator body 1. The driving mechanism of the embodiment comprises a speed reducing motor 17 fixedly installed in the actuator body 1, a driving gear 18 is arranged on an output shaft of the speed reducing motor 17, driven gears 19 meshed with the driving gear 18 are respectively arranged on the two transmission rods 15, and the transmission ratios between the two driven gears 19 and the driving gear 18 are equal. Specifically, the spline groove 14 of this embodiment is provided at the rear end of the valve core 5, the outer peripheral wall of the spline groove 14 is provided with a collar 22 extending radially outward, the output shaft of the linear motor 16 is provided with a shifting fork 23 matched with the collar, the linear motor 16 drives the shifting fork 23 to move along the axial direction of the valve core 5, and then drives the valve core 5 to move along the axial direction thereof, so as to achieve the technical purpose of adjusting the size of the flow area between the first oil inlet and the first oil inlet groove.
Further, the rear end of the actuator body 1 is provided with a rear end cover 24, and the rear end face of the rear end cover 24 is provided with a connector 25 for connecting with a cooperative robot. The front end of the actuator body 1 is provided with a front end cover 26, and the front end cover 26 is provided with a through hole corresponding to the piston rod of the assembling oil cylinder 2. Fixed mounting is equipped with finger cylinder 27 on the front end housing 26 of this embodiment, and the installation is equipped with centre gripping arm 28 respectively on two fingers of finger cylinder 27, and two centre gripping arms 28 one side in opposite directions correspond and are equipped with the centre gripping groove, and form when two centre gripping grooves are closed with the coaxial centre gripping hole that is used for centre gripping axle type spare of the piston rod of assembly hydro-cylinder 2 to in axle type spare assembling process, realize axle type spare axial motion's guide effect. The front end cover 26 is fixedly provided with a second industrial camera 36 for acquiring an assembly image of the shaft part in real time, and the second industrial camera is used for detecting the assembly state of the shaft part.
Specifically, in this embodiment, the axes of the first oil inlet 6 and the second oil inlet 7 belonging to the same hammering control valve 3 are coaxial, the axes of the first oil return opening 8 and the second oil return opening 9 belonging to the same hammering control valve 3 are coaxial, and the axis of the first oil inlet 6 and the axis of the first oil return opening 8 belonging to the same hammering control valve 3 are located on the same axial cross section of the valve body 4; the first oil inlet groove and the second oil inlet groove are annularly and uniformly arranged in the same radial direction of the first valve core sleeve 10, the first oil return groove and the second oil return groove are annularly and uniformly arranged in the same radial direction of the second valve core sleeve 11, and in the axial view direction of the valve core 5, the radial direction where the first oil inlet groove and the second oil inlet groove are located is perpendicular to the radial direction where the first oil return groove and the second oil return groove are located.
The cooperation process of the shaft assembly cooperation robot system of the embodiment is as follows: when the first industrial camera detects that a workpiece is clamped on the clamping tool, the mechanical arm acts and clamps the shaft part placed in the bin, and the shaft part is assembled into the workpiece by using the end effector; after the shaft parts are assembled, an operator takes down the workpieces, and at the moment, the first industrial camera detects that the workpieces are not clamped on the clamping tool and the mechanical arm does not act; after an operator clamps a new workpiece of the shaft part to be assembled on the clamping tool, the first industrial camera detects that the workpiece is clamped on the clamping tool, and the shaft part assembling action is repeated; the laser scanner is arranged on the workbench to detect the positions of the human body and the mechanical arm, and when the distance between an operator and the mechanical arm and the end effector is smaller than a set threshold value, the mechanical arm acts to avoid the position of the human body, so that the operator is prevented from being injured;
specifically, the principle of the end effector is as follows: the valve cores of the two hammering control valves are respectively adjusted to axially move by using a linear motor, so that the flow area between the first oil inlet grooves and the first oil inlets of the two hammering control valves is adjusted, and the flow area between the second oil inlet grooves and the second oil inlets, the flow area between the first oil return grooves and the first oil return ports and the flow area between the second oil return grooves and the second oil return ports of the same hammering control valve are equal to the flow area between the first oil inlet grooves and the first oil inlets (hereinafter referred to as flow areas); therefore, the flow area of the two hammering control valves can be independently adjusted;
when the shaft part and the hole are in interference fit and the shaft part needs to be beaten for assembly, the linear motor is utilized to adjust the flow area A of a beating control valve of which the second oil inlet and the second oil return port are both connected with a rodless cavity of the assembly oil cylinder1And the cross-sectional area S of rodless cavity1The ratio of the first oil inlet to the second oil return port is larger than the flow area A of the hammering control valve of which the second oil inlet and the second oil return port are both connected with the rod cavity of the assembly oil cylinder2And the cross-sectional area S of the rod cavity2The ratio between, i.e. A1/S1＞A2/(S1-S0) Wherein S is2＝S1-S0，S0The cross section area of the piston rod is the cross section area, so that when a first oil inlet of a hammering control valve connected with the rodless cavity is communicated with a first oil inlet groove, a first oil return port of the hammering control valve connected with the rod cavity is communicated with a first oil return groove, the rodless cavity of the assembled oil cylinder is filled with oil, the rod cavity returns oil, the piston rod moves forwards, and the shaft part is hammered; the driving mechanism drives the valve core to rotate, when a first oil return port of the hammering control valve connected with the rodless cavity is communicated with the first oil return groove, a first oil inlet of the rotation control valve connected with the rod cavity is communicated with the first oil inlet groove, at the moment, the rodless cavity of the assembled oil cylinder returns oil, the rod cavity is filled with oil, the piston rod moves backwards, namely, the piston rod is positioned in the rod cavityThe needle retracts after being beaten for one time; the forward hammering stroke of the piston rod is larger than the retracting stroke, so that the driving mechanism drives the valve element to continue rotating, the piston rod can forward hammer the shaft part for one time and for several times until the shaft part is completely assembled in the corresponding hole, and the technical purpose of hammering assembly of the shaft part is realized;
when the shaft part is in clearance fit with the hole, a first oil inlet of a hammering control valve connected with the rodless cavity is directly controlled to be communicated with a first oil inlet groove, a first oil return port of the hammering control valve connected with the rod cavity is communicated with a first oil return groove, at the moment, the rodless cavity of the assembly oil cylinder is filled with oil, the rod cavity returns oil, the piston rod moves forwards, and the shaft part is directly assembled into the hole; of course, at this time, a hammering type assembly can be adopted, the principle of the hammering type assembly is equivalent to that of interference fit, and the hammering type assembly is not described;
to sum up, the shaft part assembly cooperation robot system of this embodiment can realize the technical purpose of man-machine cooperative work to can satisfy the assembly of clearance fit's shaft part like traditional pivot assembly devices, and do the formula of pounding motion through setting up valves control assembly hydro-cylinder, also can simulate the manual action of pounding, satisfy the technical purpose of interference fit's shaft part assembly.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (10)
1. The shaft part assembling cooperative robot system comprises a workbench (30) and a mechanical arm (31), wherein an end effector used for assembling shaft parts into corresponding holes is arranged on the mechanical arm (31), a bin (32) used for storing the shaft parts is arranged on one side of the workbench (30), a clamping tool (33) used for clamping workpieces to be assembled is arranged on the workbench (30), a first industrial camera (34) used for detecting whether the workpieces are clamped on the clamping tool (33) in real time, and a laser scanner (35) used for detecting the positions of a human body and the end effector are arranged on the clamping tool (33); the method is characterized in that:
the end effector comprises an effector body (1), the front end of the effector body (1) is provided with an assembling oil cylinder (2), and a piston rod of the assembling oil cylinder (2) extends out of the front end of the effector body (1); the rear end of the actuator body (1) is provided with a valve bank for controlling the assembly oil cylinder (2) to beat;
the valve bank comprises two hammering control valves (3), each hammering control valve (3) comprises a valve body (4), and a valve core (5) which is in rotary fit with the valve body (4) is arranged in the valve body (4) in an inner sleeve manner;
a first oil inlet (6), a second oil inlet (7), a first oil return port (8) and a second oil return port (9) are formed in the valve body (4), the axes of the first oil inlet (6) and the second oil inlet (7) are located on the same radial cross section of the valve body (4), and the axes of the first oil return port (8) and the second oil return port (9) are located on the same radial cross section of the valve body (4);
the valve core (5) comprises a valve core shaft, a first valve core sleeve (10) and a second valve core sleeve (11) are arranged on the valve core shaft, and annular grooves are respectively arranged between the first valve core sleeve (10) and the valve core shaft and between the second valve core sleeve (11) and the valve core shaft; a first oil inlet groove and a second oil inlet groove are formed in the first valve core sleeve (10), and when the first oil inlet groove is communicated with the first oil inlet (6), the second oil inlet groove is communicated with the second oil inlet (7); a first oil return groove and a second oil return groove are formed in the second valve spool sleeve (11), and when the first oil return groove is communicated with the first oil return port (8), the second oil return groove is communicated with the second oil return port (9); when the first oil inlet groove is communicated with the first oil inlet (6), the first oil return groove is disconnected with the first oil return opening (8); when the first oil return groove is communicated with the first oil return port (8), the first oil inlet groove is disconnected with the first oil inlet (6);
in the two hammering control valves (3), when a first oil inlet groove of one hammering control valve (3) is communicated with the first oil inlet (6), a first oil return groove of the other hammering control valve (3) is communicated with the first oil return port (8); when the first oil return groove of one of the hammering control valves (3) is communicated with the first oil return port (8), the first oil inlet groove of the other hammering control valve (3) is communicated with the first oil inlet (6);
an oil inlet channel (12) used for communicating first oil inlets (6) of the two hammering control valves (3) and an oil return channel (13) used for communicating first oil return ports (8) of the two hammering control valves (3) are arranged in the actuator body (1); a second oil inlet (7) and a second oil return port (9) of one of the hammering control valves (3) are communicated with a rodless cavity of the assembling oil cylinder (2), and a second oil inlet (7) and a second oil return port (9) of the other hammering control valve (3) are communicated with a rod cavity of the assembling oil cylinder (2);
the actuator is characterized in that a spline groove (14) is formed in one end of the valve core (5), a transmission rod (15) in sliding fit with the spline groove (14) in a single degree of freedom is sleeved in the spline groove (14), a linear motor (16) used for driving the valve core (5) to move axially along the transmission rod (15) is installed in the actuator body (1), and a driving mechanism used for driving the two transmission rods (15) to rotate synchronously is arranged in the actuator body (1).
2. The shaft part assembling cooperative robot system according to claim 1, characterized in that: the driving mechanism comprises a speed reducing motor (17) fixedly installed in the actuator body (1), a driving gear (18) is arranged on an output shaft of the speed reducing motor (17), driven gears (19) meshed with the driving gear (18) are respectively arranged on the two transmission rods (15), and the transmission ratios between the two driven gears (19) and the driving gear (18) are equal.
3. The shaft part assembling cooperative robot system according to claim 1, characterized in that: the actuator body (1) is internally provided with a first communicating channel (20) for communicating a rodless cavity of the assembling oil cylinder (2) with a second oil inlet (7) and a second oil return port (9) of one of the hammering control valves (3) and a second communicating channel (21) for communicating a rod cavity of the assembling oil cylinder (2) with a second oil inlet (7) and a second oil return port (9) of the other hammering control valve (3).
4. The shaft part assembling cooperative robot system according to claim 1, characterized in that: the spline groove (14) is arranged at the rear end of the valve core (5); the outer peripheral wall of the spline groove (14) is provided with a shaft collar (22) which extends outwards in the radial direction, and an output shaft of the linear motor (16) is provided with a shifting fork (23) matched with the shaft collar.
5. The shaft part assembling cooperative robot system according to claim 1, characterized in that: the rear end of executor body (1) is equipped with rear end cap (24), be equipped with on the rear end face of rear end cap (24) and be used for with cooperation robot connected connector (25).
6. The shaft part assembling cooperative robot system according to claim 1, characterized in that: the front end of the actuator body (1) is provided with a front end cover (26), and a through hole is formed in the front end cover (26) and corresponds to a piston rod of the assembling oil cylinder (2).
7. The shaft part assembling cooperative robot system according to claim 6, characterized in that: one side fixed mounting of front end housing (26) is equipped with finger cylinder (27), install respectively on two fingers of finger cylinder (27) and be equipped with centre gripping arm (28), two centre gripping arm (28) one side in opposite directions corresponds and is equipped with the centre gripping groove, and when two form when the centre gripping groove is closed with the coaxial centre gripping hole that is used for centre gripping axle class spare of piston rod of assembly hydro-cylinder (2).
8. The shaft part assembling cooperative robot system according to claim 7, characterized in that: and a second industrial camera (36) used for acquiring an assembly image of the shaft part in real time is fixedly arranged on the other side of the front end cover (26).
9. The shaft part assembling cooperative robot system according to claim 1, characterized in that: and a hammering head (29) is arranged on a piston rod of the assembling oil cylinder (2).
10. The shaft part assembling cooperative robot system according to any one of claims 1 to 9, characterized in that: the axes of a first oil inlet (6) and a second oil inlet (7) of the same hammering control valve (3) are coaxial, the axes of a first oil return opening (8) and a second oil return opening (9) of the same hammering control valve (3) are coaxial, and the axis of the first oil inlet (6) and the axis of the first oil return opening (8) of the same hammering control valve (3) are located on the same axial cross section of the valve body (4); first oil feed slot and second oil feed slot annular all set up on the same radial direction of first case cover (10), first oil return slot and the annular equipartition of second oil return slot set up on the same radial direction of second case cover (11), and on the axial view direction of case (5), the radial direction at first oil feed slot and second oil feed slot place with the radial direction at first oil return slot and second oil return slot place is perpendicular.
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| CN109926824B (en) * | 2019-04-29 | 2020-12-29 | 沈阳理工大学 | Compressor air valve assembling device and assembling method thereof |
| CN113043010B (en) * | 2021-04-01 | 2022-07-01 | 中国工程物理研究院机械制造工艺研究所 | Automatic assembling device and method for shaft hole with large length-diameter ratio |
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