CN109926815A - A kind of robot automatic assembling screw thread pair method - Google Patents
A kind of robot automatic assembling screw thread pair method Download PDFInfo
- Publication number
- CN109926815A CN109926815A CN201910340214.6A CN201910340214A CN109926815A CN 109926815 A CN109926815 A CN 109926815A CN 201910340214 A CN201910340214 A CN 201910340214A CN 109926815 A CN109926815 A CN 109926815A
- Authority
- CN
- China
- Prior art keywords
- screw thread
- thread pair
- torque
- aligned
- robot
- 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.)
- Pending
Links
Landscapes
- Manipulator (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention is to disclose a kind of robot automatic assembling screw thread pair method, is included the following steps, the first step, preliminary vision positioning, and screw thread pair to be assembled is aligned by robot by vision positioning system；Second step, screw thread pair just assemble, and robot arm grabs torque spanner and tooling to assemble to screw thread pair；Third step, judge whether screw thread pair is aligned, pass through torque of the torque feedback system detection torque spanner of robot in assembly, judge whether screw thread pair is aligned, when screw thread pair alignment, robot arm control moment spanner backs off screw thread pair, screw thread pair to be assembled is aligned by mobile robot arm again, second step is returned later, and when screw thread pair alignment, robot arm control moment spanner continues to assemble screw thread pair until assembly is completed.Robot can be achieved and replace manual assembly screw thread pair, so that assembly high efficiency, standardization and standardization.
Description
Technical field
The present invention relates to robot engineering application field, in particular to a kind of robot automatic assembling screw thread pair method.
Background technique
Screw thread pair is coupled using a kind of machine that threaded engagement is realized, can be used for connecting and being driven.Previous screw thread pair
Part installation is all to use manual assembly form, or manually assembled again with electric tool to after silk.With unmanned factory
Appearance, robot replace manual assembly screw thread pair become a kind of trend.
Summary of the invention
The object of the present invention is to provide a kind of robot automatic assembling screw thread pair methods.To substitute people completely using robot
It is artificial to realize that machine replaces, improves working efficiency to silk process for work；On the other hand can be improved screw thread pair assembly standardization and
Standardization.
The present invention is that technical purpose is realized by following technological means, a kind of robot automatic assembling screw thread pair method,
Include the following steps,
Screw thread pair to be assembled is aligned by the first step, preliminary vision positioning, robot by vision positioning system；
Second step, screw thread pair just assemble, and robot arm grabs torque spanner and tooling to assemble to screw thread pair；
Third step, judges whether screw thread pair is aligned, and is being assembled by the torque feedback system detection torque spanner of robot
When torque, judge whether screw thread pair is aligned, when screw thread pair alignment when, robot arm control moment spanner moves back screw thread pair
Under, screw thread pair to be assembled is aligned by mobile robot arm again, second step is returned later, when screw thread pair alignment, and machine
Human arm control moment spanner continues to assemble screw thread pair until assembly is completed.
Further, in the third step, the method for judging whether screw thread pair is aligned is, for robot setting assembly torque
Minimum value and maximum value, and setting screw thread pair assemble torque most when the torque that torque spanner is passed back is located at respect to precession distance
Except small value and maximum value or when screw thread pair is not up to setting value with respect to precession distance, it is believed that screw thread pair is not aligned with, and works as torque
The torque that spanner is passed back is located between assembly minimum torque and maximum value, and screw thread pair meets setting value with respect to precession distance
When, it is believed that screw thread pair alignment.
Further, the screw thread pair is with respect to the detection method of precession distance, robot arm rotating torque spanner from
And when screw thread pair, according to the encoder of rotating electric machine, the circle number of rotation is recorded, after rotation is turned around, it is believed that screw thread pair is opposite
The precession distance of 1 unit.
Further, the setting screw thread pair is 3 units with respect to precession distance.
Further, in the third step, the method that screw thread pair to be assembled is aligned is by mobile robot arm again,
The position of robot arm and torque spanner is moved a certain distance in vertical direction, second step is then returned to, if screw thread
Pair is still not aligned with, and the position of robot arm and torque spanner is moved in the horizontal direction one end distance, is again returned to
Second step moves the position of robot arm and torque spanner if third time is still not aligned in vertical direction
Certain distance is recycled to screw thread pair alignment.
Further, when the robot arm and torque spanner move, fixing end is the center of circle in using screw thread pair
It is moved in oval range.
The beneficial effects of the present invention are: 1, screw thread pair is assembled by robot, improved work efficiency, and improve
The standardization and standardization of screw thread pair assembly.
2, pass through the record of the encoder of the torque and rotating electric machine that obtain when assembly, can accurately and simply sentence
Disconnected, whether screw pair is aligned, and realizes robot and judges automatically whether screw pair is aligned, and avoids and does not have assembly pair under alignment condition
Screw pair damages.
3, by readjusting positioning, so that in the case where vision positioning system is not aligned screw pair, it can be automatic
It relocates, so that screw pair is aligned, assembly can go on, and have the effect of self-recision.
Detailed description of the invention
Fig. 1 is flow diagram of the present invention.
The present invention is described in further details below with reference to accompanying drawings and embodiments；
Specific embodiment
[embodiment 1]
As shown in Figure 1, a kind of robot automatic assembling screw thread pair method, comprising the following steps:
Screw thread pair to be assembled is aligned by the first step, preliminary vision positioning, robot by vision positioning system；Pass through
Then existing vision positioning system technology carries out second step so that screw thread pair is substantially aligned with by robot,
Second step, screw thread pair just assemble, and robot arm grabs torque spanner and tooling to assemble to screw thread pair；?
After being directed at screw thread pair by vision positioning system, robot arm crawl torque spanner and tooling assemble screw thread pair,
Screw thread pair is screwed,
Third step, judges whether screw thread pair is aligned, and is being assembled by the torque feedback system detection torque spanner of robot
When torque, judge whether screw thread pair is aligned, when screw thread pair alignment when, robot arm control moment spanner moves back screw thread pair
Under, screw thread pair to be assembled is aligned by mobile robot arm again, second step is returned later, when screw thread pair alignment, and machine
Human arm control moment spanner continues to assemble screw thread pair until assembly is completed.
With in torque spanner assembling process, if screw thread pair is aligned, only need the power of very little can be by screw thread pair
Screw, but if screw thread pair is not aligned with, then just will appear in assembling process with very energetically in the case where cannot also say screw thread
Secondary internal screw thread and external screw thread screws.After screw thread pair alignment simultaneously, when screw thread pair, internal screw thread and external screw thread, such as nut and
Threaded rod, nut can advance on threaded rod, and the nut position after assembly is different from incipient nut position, produce opposite
Displacement.According to torque feedback system detection to assembly when firmly and nut relative displacement, so that it may confirm that screw thread pair has
It is not aligned with.When screw thread pair is not aligned with, robot arm control moment spanner opposite direction rotary nut, by nut from screw thread
It is unloaded under bar, returns to second step after relocating alignment, again attempt to assembly screw thread pair；If screw thread pair is aligned, then continuing long
On mounting nut to threaded rod, until nut reaches the position of setting.
[embodiment 2]
As shown in Figure 1, the method for judging whether screw thread pair is aligned is to set assembly force for robot in the third step
Square minimum value and maximum value, and setting screw thread pair assemble torque when the torque that torque spanner is passed back is located at respect to precession distance
Except minimum value and maximum value or when screw thread pair is not up to setting value with respect to precession distance, it is believed that screw thread pair is not aligned with, and works as power
The torque that square spanner is passed back is located between assembly minimum torque and maximum value, and screw thread pair meets setting value with respect to precession distance
When, it is believed that screw thread pair alignment.
If screw thread pair is nut and threaded rod, robot arm assembles nut on fixed threaded rod, when nut and
When the screw thread of threaded rod is mutually aligned, it is only necessary to which little force can be assembled to nut on threaded rod, so setting assembly torque
Maximum value and minimum value, when existing torque feedback system detection to power assembly torque maximum value and minimum value except
When, then it is assumed that screw thread pair at this time is not aligned, and is relocated, is entered back into the assembly of second step after unloading nut.
Simultaneously when screw thread pair alignment, nut can move on threaded rod in assembling process, and it is opposite can to set screw thread pair
Precession distance, if detect that screw thread pair is not up to setting value with respect to precession distance in practical operation, it also hold that spiral shell at this time
Line pair is not aligned, and is relocated, is entered back into the assembly of second step after unloading nut.
In conclusion assembly when, share torque feedback system detection to power assemble torque maximum value and minimum value it
Between and screw thread pair with respect to precession distance reach two detected values of setting value, when any one of less than foot two above condition all
Think that screw thread pair is not aligned with, only when the two meets simultaneously, system just thinks that screw thread pair is aligned at this time, can continue
Assembly.
The screw thread pair is that robot arm rotating torque spanner is to screw thread with respect to the detection method of precession distance
When secondary, according to the encoder of rotating electric machine, the circle number of rotation is recorded, after rotation is turned around, it is believed that screw thread pair is with respect to 1 list of precession
The distance of position.
When assembling, robot arm rotating torque spanner, the circle number that the rotating electric machine in robot arm turns can quilt
The encoder of rotating electric machine is recorded, if screw thread pair is aligned, rotating electric machine can continue to rotate, and work as screw thread pair
When not being aligned, nut and threaded rod can block master during rotation, and rotating electric machine cannot just rotate, so being passed according to encoder
The data come, so that it may the opposite precession distance of screw thread pair is obtained, to judge whether screw thread pair is aligned.
The setting screw thread pair is 3 units with respect to precession distance.According to the threaded rod and nut of different size, nut exists
The distance that precession one is enclosed on threaded rod is different, after the data that encoder transmits are to have rotated 3 circle, it is believed that screw thread pair is right at this time
It is quasi-.
In the third step, the method that screw thread pair to be assembled is aligned is by mobile robot arm again, by robot
The position of arm and torque spanner moves a certain distance in vertical direction, then returns to second step, if screw thread pair does not have still
There is alignment, the position of robot arm and torque spanner is moved in the horizontal direction into one end distance, again returns to second step, if
Third time is still not aligned with, then is moved a certain distance the position of robot arm and torque spanner in vertical direction,
It is recycled to screw thread pair alignment.
After screw thread pair is not aligned, the method for readjusting position is that mobile robot arm is certain on present vertical direction
Then distance is assembled again so that the position of nut changes correspondingly.If after moving a certain distance in the vertical direction, still
Feedback result is to be not aligned with, then control robot arm moves a spacing in the horizontal direction on the basis of new position
From assembling again.If be aligned not yet, move a certain distance in the vertical direction again, that is, vertical shift one
It is secondary, it moves horizontally once, circulation is until screw thread pair alignment in this way.The distance moved every time can be 0.1cm.
When the robot arm and mobile torque spanner, fixing end is in the oval range in the center of circle in using screw thread pair
It is mobile.
Determine that the approximate range of threaded rod allows robot arm and torque to pull then centered on this range first
Hand is moved in oval range when mobile with this center, limits a range in this way, it is ensured that robot arm and power
In square spanner moving process, nut total energy and threaded rod alignment.Fixing end is fixed threaded rod in screw thread pair.
In conclusion robot passes through vision positioning system first in operating room, rough threaded rod position is determined, so
Nut is aligned by mobile robot arm with threaded rod afterwards, starts to assemble；
When assembly by torque feedback system feedback to control system data and encoder feedback to control system
Data, to determine whether nut and threaded rod are really aligned, if alignment, then continuing on mounting nut to threaded rod；
If be not aligned, the reversion of robot arm control moment spanner is separated nut and threaded rod, then again
Then the position for changing the torque spanner of robot arm and robot arm crawl fills again to change the position of nut
Match, change position if being not aligned with and assemble once again, until nut and threaded rod alignment, successfully assembles.
Claims (6)
1. a kind of robot automatic assembling screw thread pair method, which comprises the following steps:
Screw thread pair to be assembled is aligned by the first step, preliminary vision positioning, robot by vision positioning system；
Second step, screw thread pair just assemble, and robot arm grabs torque spanner and tooling to assemble to screw thread pair；
Third step, judges whether screw thread pair is aligned, through the torque feedback system detection torque spanner of robot in assembly
Torque, judges whether screw thread pair is aligned, and when screw thread pair alignment, robot arm control moment spanner backs off screw thread pair, moves
Screw thread pair to be assembled is aligned by mobile robot arm again, returns to second step later, when screw thread pair alignment, robot arm
Control moment spanner continues to assemble screw thread pair until assembly is completed.
2. a kind of robot automatic assembling screw thread pair method according to claim 1, it is characterised in that: the third step
In, the method for judging whether screw thread pair is aligned is, for robot setting assembly minimum torque and maximum value, and setting screw thread
Secondary opposite precession distance, when the torque that torque spanner is passed back is located at except assembly minimum torque and maximum value or screw thread pair phase
When being not up to setting value to precession distance, it is believed that screw thread pair is not aligned with, when the torque that torque spanner is passed back is located at assembly torque
Between minimum value and maximum value, and when screw thread pair meets setting value with respect to precession distance, it is believed that screw thread pair alignment.
3. a kind of robot automatic assembling screw thread pair method according to claim 2, it is characterised in that: the screw thread pair phase
Detection method to precession distance is, when robot arm rotating torque spanner is to screw thread pair, according to rotating electric machine
Encoder records the circle number of rotation, after rotation is turned around, it is believed that distance of the screw thread pair with respect to 1 unit of precession.
4. a kind of robot automatic assembling screw thread pair method according to claim 2, it is characterised in that: the setting screw thread
Secondary opposite precession distance is 3 units.
5. a kind of robot automatic assembling screw thread pair method according to claim 1, it is characterised in that: the third step
In, the method that screw thread pair to be assembled is aligned is by mobile robot arm again, by robot arm and torque spanner
Position moves a certain distance in vertical direction, then returns to second step, if screw thread pair is still not aligned with, by robot arm
And the position of torque spanner moves in the horizontal direction one end distance, again returns to second step, if third time is still not aligned with,
The position of robot arm and torque spanner is moved a certain distance in vertical direction then, is recycled to screw thread pair alignment.
6. a kind of robot automatic assembling screw thread pair method according to claim 5, it is characterised in that: the robot
When arm and mobile torque spanner, fixing end is moves in using screw thread pair in the oval range in the center of circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910340214.6A CN109926815A (en) | 2019-04-25 | 2019-04-25 | A kind of robot automatic assembling screw thread pair method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910340214.6A CN109926815A (en) | 2019-04-25 | 2019-04-25 | A kind of robot automatic assembling screw thread pair method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109926815A true CN109926815A (en) | 2019-06-25 |
Family
ID=66991104
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910340214.6A Pending CN109926815A (en) | 2019-04-25 | 2019-04-25 | A kind of robot automatic assembling screw thread pair method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109926815A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110666792A (en) * | 2019-09-04 | 2020-01-10 | 南京富尔登科技发展有限公司 | Multi-point-position cooperative control manufacturing and assembling device and method based on information fusion |
| CN115061352A (en) * | 2022-05-30 | 2022-09-16 | 歌尔股份有限公司 | Connection method of connection structure of bus pipe and middle frame |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6473962B1 (en) * | 1995-12-12 | 2002-11-05 | Kimberly-Clark Worldwide, Inc. | Rotary die cutter apparatus and method |
| CN105269581A (en) * | 2014-06-02 | 2016-01-27 | 精工爱普生株式会社 | Robot, robot system, and control method |
| CN107030477A (en) * | 2017-06-26 | 2017-08-11 | 江南大学 | A kind of steel drum threaded cap crawl screws method |
| CN107984201A (en) * | 2017-11-30 | 2018-05-04 | 中国地质大学（武汉） | A kind of screw hole positioning of view-based access control model servo and lock unload screw method |
| CN108110309A (en) * | 2018-02-05 | 2018-06-01 | 深圳市比克电池有限公司 | A kind of electrokinetic cell system automatic tightening mounting work station and its method of work |
| CN108312144A (en) * | 2017-12-25 | 2018-07-24 | 北京航天测控技术有限公司 | Automatically lock pays control system and method for robot based on machine vision |
| CN108637662A (en) * | 2018-08-17 | 2018-10-12 | 山东临工工程机械有限公司 | Flange plate bolt Full automatic double shaft tightening machine |
| CN109483216A (en) * | 2019-01-03 | 2019-03-19 | 深圳市森阳智能制造装备有限公司 | Double vision feels recognition detection function the screwed lock device and the screwed lock method |
-
2019
- 2019-04-25 CN CN201910340214.6A patent/CN109926815A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6473962B1 (en) * | 1995-12-12 | 2002-11-05 | Kimberly-Clark Worldwide, Inc. | Rotary die cutter apparatus and method |
| CN105269581A (en) * | 2014-06-02 | 2016-01-27 | 精工爱普生株式会社 | Robot, robot system, and control method |
| CN107030477A (en) * | 2017-06-26 | 2017-08-11 | 江南大学 | A kind of steel drum threaded cap crawl screws method |
| CN107984201A (en) * | 2017-11-30 | 2018-05-04 | 中国地质大学（武汉） | A kind of screw hole positioning of view-based access control model servo and lock unload screw method |
| CN108312144A (en) * | 2017-12-25 | 2018-07-24 | 北京航天测控技术有限公司 | Automatically lock pays control system and method for robot based on machine vision |
| CN108110309A (en) * | 2018-02-05 | 2018-06-01 | 深圳市比克电池有限公司 | A kind of electrokinetic cell system automatic tightening mounting work station and its method of work |
| CN108637662A (en) * | 2018-08-17 | 2018-10-12 | 山东临工工程机械有限公司 | Flange plate bolt Full automatic double shaft tightening machine |
| CN109483216A (en) * | 2019-01-03 | 2019-03-19 | 深圳市森阳智能制造装备有限公司 | Double vision feels recognition detection function the screwed lock device and the screwed lock method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110666792A (en) * | 2019-09-04 | 2020-01-10 | 南京富尔登科技发展有限公司 | Multi-point-position cooperative control manufacturing and assembling device and method based on information fusion |
| CN115061352A (en) * | 2022-05-30 | 2022-09-16 | 歌尔股份有限公司 | Connection method of connection structure of bus pipe and middle frame |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109926815A (en) | A kind of robot automatic assembling screw thread pair method | |
| CN104002304A (en) | Novel pneumatic manipulator | |
| CN112296852B (en) | Movement device for polishing PE (polyethylene) ball core and control method | |
| CN108860293B (en) | Steering control method and steering control device | |
| US11648677B2 (en) | Automatic wheel changer robot | |
| CN110125312B (en) | Automatic hole-making riveting control system and control method | |
| CN204545886U (en) | For the equipment of the automatic assembling of three-way connection in manual pump | |
| CN105014442B (en) | A kind of intelligent fixture of air dryer valve seat inclined hole processing and clamping method | |
| CN113118745B (en) | Automatic screwing assembly device and assembly method for large-diameter threaded part | |
| CN104786052B (en) | Stubborn all-in-one worn by a kind of M1.6 screws | |
| CN105643177A (en) | Regulating device and control method for turnover angle of working table of welding robot | |
| CN108762315B (en) | Monitoring device and method of closed-loop control system and closed-loop control system | |
| CN112404972A (en) | Screw assembly device based on big data intelligent recognition | |
| CN105171398B (en) | A kind of tightening machine and the method screwed using the tightening machine to workpiece | |
| CN110640446A (en) | Device and method for screwing back shaft nut of high-pressure turbine of aircraft engine | |
| CN107083473B (en) | A kind of workpiece circumferential position automatic alignment mechanism | |
| CN203843479U (en) | Tightening device used for oil pressure damper assembling | |
| CN205129671U (en) | Rotor positioner and rotor hot jacket frock | |
| CN104483984A (en) | Cloud deck accurate positioning device for valve hall intelligent inspection tour robot and working method of accurate positioning device | |
| CN202316808U (en) | Special expand tube riveting machine | |
| CN209409342U (en) | A kind of nylon pipe joint automatic installation apparatus | |
| CN204195215U (en) | Variable bit tightening mechanism | |
| CN205325470U (en) | Device that automatic alignment of camshaft was rectified and is fixed a position | |
| CN110707969A (en) | Motor control system, motor control method and rotary valve slurry pulse generator | |
| CN204430774U (en) | A kind of spring pipe nipple bores milling all-in-one |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190625 |