CN110153294A - A kind of robot binding mechanism and its adjustment method based on mobile terminal - Google Patents
A kind of robot binding mechanism and its adjustment method based on mobile terminal Download PDFInfo
- Publication number
- CN110153294A CN110153294A CN201910454349.5A CN201910454349A CN110153294A CN 110153294 A CN110153294 A CN 110153294A CN 201910454349 A CN201910454349 A CN 201910454349A CN 110153294 A CN110153294 A CN 110153294A
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- China
- Prior art keywords
- robot
- mobile terminal
- computer processor
- idler wheel
- setting value
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
- B21D39/02—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder
- B21D39/021—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder for panels, e.g. vehicle doors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D53/00—Making other particular articles
- B21D53/88—Making other particular articles other parts for vehicles, e.g. cowlings, mudguards
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot binding mechanism and its adjustment method based on mobile terminal are related to robot binding technical field, and knurling tool is installed on robot body end, and idler wheel is connected to the 6th shaft end of robot body by spring；Data processing module includes computer processor, pressure acquisition devices, robot controller and wireless module with computer processor data communication, and pressure acquisition devices are connected to pressure sensor data；Computer processor is connected to by wireless module with mobile terminal data, robot controller and robot body data communication.The present invention by data processing module and mobile terminal by rolling force data, can the distance that pushes of visual feedback control idler wheel, greatly simplify debugging process, improve debugging efficiency；In actual production can real-time monitoring rolling power variation, and it is compared with standard curve, avoids the lasting generation of mass defect, reduce repair rate and rejection rate, improve overall processing quality.
Description
Technical field
The present invention relates to robot binding technical fields, and in particular to a kind of robot rolling for the connection of automobile interior exterior plate
Side mechanism and its adjustment method.
Background technique
Robot binding is a kind of important processing method for weld car workshop inner and outer plates Joining Technology, it passes through peace
Knurling tool on the 6th axis of robot applies active force to outside plate flange, makes its fold inward, so that inner panel be compressed
Bao Shi.The process generally divides three to four steps to complete, and in the process, rolling pressure is and its crucial machined parameters, if pressure
It is improper or unstable, it will to cause to wrap not firm, the mass defects such as wave influence auto-body assembly.
Currently, forming method common in edge knurling process there are several types of:
1) plate is not placed on fetal membrane, (clearance gauge is completed having a size of plate rolling using ruler of jumping a queue between idler wheel and fetal membrane
Overall thickness thickness afterwards) come adjust robot pushing distance；Purpose is position of the idler wheel with respect to loose tool during each step of confirmation
It sets, places plate in actual production again；
But ruler of jumping a queue is each step plate fold variation of simulation, is a kind of method of Indirect method rolling pressure, not only consumes
When it is laborious, and be unable to accurately control pressure size, need to debug repeatedly by the experience of engineer；
2) directly place plate on loose tool, built-in spring in knurling tool, using spring pressure sensor read spring by
The pressure generated is pressed, the distance of robot pushing is adjusted according to the numerical value change；
The forming method introduces spring and force snesor in knurling tool main shaft, but due to idler wheel and knurling tool master
Axis is there are angle, and robot posture during rolling is not also unique, so spring pressure and being applied to plate not equal to idler wheel
Pressure on part, and it is not in a linear relationship；Spring pressure is only capable of the reference as rolling pressure setting range, especially aluminium alloy
Part, it is more sensitive to rolling pressure relative to steelwork, it needs precisely to be arranged；
3) closed loop feedback is formed using the track of vision system detection or the reading adjust automatically machine people of torque sensor
Complete rolling；
4) plate is placed on loose tool, built-in spring in knurling tool controls machine by the variation of spring pressure detected value
Angle between device people adjust automatically knurling tool main-shaft axis and idler wheel normal, and then guarantee spring pressure always in setting model
In enclosing；
Above two forming method belongs to closed-loop feedback control method, very high to the trackability requirement of robot and system,
And rolling is one-time formed technical process, the control mode of closed loop feedback can not correct the defect having occurred and that, for rolling
Curvature varying is big, the big complex region of flange angle, it is still desirable to which manual intervention, the i.e. technology can not be suitable for all situations.
Summary of the invention
The present invention provides a kind of based on mobile terminal precisely in order to avoid above-mentioned existing deficiencies in the technology
Robot binding mechanism and its adjustment method.
The present invention adopts the following technical scheme that a kind of robot binding machine based on mobile terminal in order to solve the technical problem
Structure, knurling tool are installed on robot body end, and idler wheel is connected to the 6th shaft end of the robot body by spring,
The knurling tool is constituted with the pressure sensor being set between the spring and the 6th shaft end；Data processing module packet
Computer processor, pressure acquisition devices, robot controller and wireless module with the computer processor data communication are included,
The pressure acquisition devices are connected to the pressure sensor data；The computer processor passes through the wireless module and movement
Terminal data connection, the robot controller and the robot body data communication.
Further, the computer processor is B&R APC2100system unit.
Further, the robot controller is KUKA KRC4.
The adjustment method of robot binding mechanism, comprising the following steps:
Inside and outside plate to rolling is placed on loose tool by S1, commissioning staff, is completed positioning and is clamped；
S2, commissioning staff control the robot body and knurling tool are driven to move to reach first rolling on the outside plate of setting
Wheel load access point；
S3, the robot body drive the knurling tool to carry out rolling work, when the idler wheel is pressed into outside plate flange
When, the spring provides rolling power and deformation occurs, the power F that the pressure sensor generates spring deformationtIt is detected, and
It will test result and be transferred to the computer processor；
S4, S execute while, the robot controller by the angle α of the knurling tool axis and fetal membrane transmit
To the computer processor；
S5, the computer processor are according to FtReal-time rolling power F is calculated with α, F is answered into setting value with preset
Database be compared, if F answers setting value to be consistent with preset, the indentation point debugging of first idler wheel is finished；Otherwise, described
Computer processor provides warning message, prompts operator to operate, and execute S.；
F is transferred to the mobile terminal by the wireless module by S6, the computer processor；
S7, commissioning staff by the acquisition for mobile terminal F and answer setting value；
If F > answers setting value, controls roller tool and lift；
If F < answers setting value, controls idler wheel and continue to push；
If F=answers setting value, first idler wheel indentation point debugging is finished.
Further, described to answer setting value for the comprehensive correct pressure value obtained of theoretical and experience, it is pre-stored within institute
It states in computer processor.
The present invention provides a kind of robot binding mechanism and its adjustment method based on mobile terminal have beneficial below
Effect:
1, by data processing module and mobile terminal by rolling force data, commissioning staff can be according to rolling force data
The distance that pushes of visual feedback control idler wheel, greatly simplify debugging process, improve debugging efficiency；
2, in actual production can real-time monitoring rolling power variation, and it is compared with standard curve, avoids mass defect
Lasting generation, reduce repair rate and rejection rate, improve overall processing quality；
3, pressure needed for rolling molding and robot pose work are optimized before actual production conducive to commissioning staff
Adjustment has good practicability.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the schematic diagram of the angle α of knurling tool axis of the present invention and fetal membrane；
Fig. 3 is the connection schematic diagram of data processing module of the present invention.
In figure:
1, knurling tool, 11, idler wheel, 12, spring, 13, pressure sensor；2, data processing module, 21, computer disposal
Device, 22, pressure acquisition devices, 24, robot controller, 25, wireless module；4, robot body；5, mobile terminal.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention,
Technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is the present invention one
Divide embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making
Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of creative work.
As shown in FIG. 1 to 3, structural relation are as follows: knurling tool 1 is installed on 4 end of robot body, and idler wheel 11 passes through
Spring 12 is connected to the 6th shaft end of robot body 4, with the pressure sensor being set between spring 12 and the 6th shaft end
13 constitute knurling tool 1；Data processing module 2 includes computer processor 21, the pressure with 21 data communication of computer processor
Power collector 22, robot controller 24 and wireless module 25, pressure acquisition devices 22 and 13 data communication of pressure sensor；It calculates
Machine processor 21 is connected by wireless module 25 and 5 data communication of mobile terminal, robot controller 24 and 4 data of robot body
It is logical.
Preferably, computer processor 21 is B&R APC2100system unit, and mobile terminal 5 is load IOS or peace
The tablet computer of tall and erect system, robot controller 24 are KUKA KRC4,
Before carrying out roller tool debugging, commissioning staff will should first carry out the configuration of mobile terminal 5, specific steps are as follows: adjust
Examination personnel open the APP application of mobile terminal 5, specify IP address, are connect by WIFI with computer processor 21.
The adjustment method of robot binding mechanism, comprising the following steps:
Inside and outside plate to rolling is placed on loose tool by S1, commissioning staff, is completed positioning and is clamped；
S2, commissioning staff control robot body 4 and knurling tool are driven to move to reach first idler wheel on the outside plate of setting
Indentation point；
S3, robot body 4 drive knurling tool 1 to carry out rolling work, when idler wheel 11 is pressed into outside plate flange, spring 12
Rolling power is provided and deformation occurs, the power F that pressure sensor 13 generates spring deformationtIt is detected, and will test result biography
It is handed to computer processor 21；
S4, S3 execute while, the angle α of 1 axis of knurling tool and fetal membrane is transferred to meter by robot controller 24
Calculation machine processor 21；
S5, computer processor 21 are according to FtWith α real-time rolling power F is calculated, by F and preset setting value of answering
Database is compared, if F answers setting value to be consistent with preset, first idler wheel indentation point debugging is finished；Otherwise, computer
Processor provides warning message, prompts operator to operate, and execute S6.；
F is transferred to mobile terminal 5 by wireless module 25 by S6, computer processor 21；
S7, commissioning staff obtain F by mobile terminal 5 and answer setting value；
If F > answers setting value, controls roller tool and lift；
If F < answers setting value, controls idler wheel and continue to push；
If F=answers setting value, first idler wheel indentation point debugging is finished.
Preferably, answering setting value is the comprehensive correct pressure value obtained of theoretical and experience, is pre-stored at computer
It manages in device 21.
Hardware configuration in data processing module changes or the replacement of mobile terminal belongs to conventional scheme, should belong to
Protection scope of the present invention.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (5)
1. a kind of robot binding mechanism based on mobile terminal, knurling tool (1) is installed on robot body (4) end,
Be characterized in that: idler wheel (11) is connected to the 6th shaft end of the robot body (4) by spring (12), and is set to the bullet
Pressure sensor (13) between spring (12) and the 6th shaft end constitutes the knurling tool (1)；Data processing module (2)
Pressure acquisition devices (22), robot control including computer processor (21) and the computer processor (21) data communication
Device (24) processed and wireless module (25), the pressure acquisition devices (22) and the pressure sensor (13) data communication；The meter
Calculation machine processor (21) passes through the wireless module (25) and mobile terminal (5) data communication, the robot controller (24)
With the robot body (4) data communication.
2. a kind of robot binding mechanism based on mobile terminal according to claim 1, it is characterised in that: the calculating
Machine processor (21) is B&R APC2100 system unit.
3. a kind of robot binding mechanism based on mobile terminal according to claim 1, it is characterised in that: the machine
People's controller (24) is KUKA KRC4.
4. a kind of adjustment method of robot binding mechanism based on mobile terminal according to claim 1, feature exist
In, comprising the following steps:
Inside and outside plate to rolling is placed on loose tool by S1, commissioning staff, is completed positioning and is clamped；
S2, commissioning staff control the robot body (4) and knurling tool are driven to move to reach first rolling on the outside plate of setting
Wheel load access point；
S3, the robot body (4) drive the knurling tool (1) to carry out rolling work, and when the idler wheel (11), indentation is outer
When plate flange, the spring (12) provides rolling power and deformation occurs, what the pressure sensor (13) generated spring deformation
Power FtIt is detected, and will test result and be transferred to the computer processor (21)；
S4, while S3 is executed, the robot controller (24) is by the angle α of the knurling tool (1) axis and fetal membrane
It is transferred to the computer processor (21)；
S5, the computer processor (21) are according to FtReal-time rolling power F is calculated with α, F is answered into setting value with preset
Database be compared, if F answers setting value to be consistent with preset, the indentation point debugging of first idler wheel is finished；Otherwise, described
Computer processor provides warning message, prompts operator to operate, and execute S6；
F is transferred to the mobile terminal (5) by the wireless module (25) by S6, the computer processor (21)；
S7, commissioning staff obtain F by the mobile terminal (5) and answer setting value；
If F > answers setting value, controls roller tool and lift；
If F < answers setting value, controls idler wheel and continue to push；
If F=answers setting value, first idler wheel indentation point debugging is finished.
5. a kind of adjustment method of robot binding mechanism based on mobile terminal according to claim 1, feature exist
In: it is described to answer setting value for the comprehensive correct pressure value obtained of theoretical and experience, it is pre-stored within the computer processor
(21) in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910454349.5A CN110153294B (en) | 2019-05-29 | 2019-05-29 | Robot edge rolling mechanism based on mobile terminal and debugging method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910454349.5A CN110153294B (en) | 2019-05-29 | 2019-05-29 | Robot edge rolling mechanism based on mobile terminal and debugging method thereof |
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| Publication Number | Publication Date |
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| CN110153294A true CN110153294A (en) | 2019-08-23 |
| CN110153294B CN110153294B (en) | 2021-03-09 |
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| CN201910454349.5A Active CN110153294B (en) | 2019-05-29 | 2019-05-29 | Robot edge rolling mechanism based on mobile terminal and debugging method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113560394A (en) * | 2021-07-12 | 2021-10-29 | 精诚工科汽车系统有限公司 | Binding method for robot, computer-readable storage medium, and computer device |
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|---|---|
| CN110153294B (en) | 2021-03-09 |
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