CN110814742A - Screen ring combined assembling system and method based on six-axis robot platform - Google Patents
Screen ring combined assembling system and method based on six-axis robot platform Download PDFInfo
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- CN110814742A CN110814742A CN201911197828.XA CN201911197828A CN110814742A CN 110814742 A CN110814742 A CN 110814742A CN 201911197828 A CN201911197828 A CN 201911197828A CN 110814742 A CN110814742 A CN 110814742A
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- screen ring
- ring combination
- axis robot
- assembly
- screen
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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
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
Abstract
A screen ring combined assembly system and method based on a six-axis robot platform relates to the technical field of automobile instrument assembly. The invention aims to solve the problems of low assembly quality and difficult production change of the existing assembly mode of screen ring combination. The invention adopts a six-axis robot to match with a material vehicle for picking up, dedusting and assembling, and is provided with a fork-shaped sensor to detect whether the assembly is in place. Compared with the existing automatic assembly, the main differences are that: the six-axis robot arm has a large extension range, and in the extension range, if a product is replaced, only the coordinates of each point need to be replaced, so that the six-axis robot arm is convenient and quick to replace. Meanwhile, the clamping jaw of the robot adopts a bionic mechanism, so that the direct contact with the surface of the screen ring is avoided, and the scratch is prevented; and a fork-shaped sensor is adopted for buckle detection, so that the omission is avoided.
Description
Technical Field
The invention belongs to the technical field of automobile instrument assembly, and particularly relates to assembly of a screen ring combination.
Background
The screen ring combination is a part of the vehicle instrument which is directly contacted with a user, all automobile factories have high requirements on the screen ring combination, and because the screen ring combination has different shapes and the surface of the screen ring combination is easy to scratch, the prior art methods mostly adopt manual assembly. When people assembled, the plastic part can be clamped in place only through visual inspection, and once the plastic part is missed or mistakenly inspected, dust or water vapor enters the instrument to further influence the function of the instrument. Therefore, part of transfer factories adopt an automatic assembly mode, the assembly stations adopt three electric cylinders to build a truss manipulator to grab at different positions, and in the assembly mode, the manipulator arm is small in extension range and limited by the size of the electric cylinders, so that the production change (the other workpiece is changed for production) is difficult. Moreover, the screen ring assembly is required to be continuously placed on the fixing tool manually during automatic assembly, and manpower is still wasted.
Disclosure of Invention
The invention provides a screen ring combination assembling system and method based on a six-axis robot platform, aiming at solving the problems of low assembling quality and difficult production change of the existing assembling mode of the screen ring combination.
A screen ring combined assembly method based on a six-axis robot platform comprises the following steps:
the method comprises the following steps: a six-axis robot is used for grabbing a screen ring combination to be assembled in a bin drawer,
step two: judging whether the screen circle combination is successfully grabbed, if so, executing the step three, otherwise, returning to the step one,
step three: the screen ring combination is placed at the positioning position, two positioning pins at the positioning position penetrate through two positioning holes of the screen ring combination to realize positioning,
step four: and (4) grabbing the screen ring combination at the positioning position by using the six-axis robot again, driving the screen ring combination to be pressed at the position to be assembled by the six-axis robot, and keeping the position for 5s +/-200 ms to complete the screen ring combination assembly.
The method also comprises the following steps before the step one:
step 01: reading the information of the current work station, judging whether the current work station can execute the work, if so, executing the step 02, otherwise, finishing the assembly,
step 02: judging whether a drawer extends out of the bin by using the correlation sensor, if so, finishing assembly, otherwise, executing the step 03:
step 03: and (4) extracting the bin drawer where the screen ring combination to be assembled is located, judging whether the bin drawer is in place, if so, executing the step one, and otherwise, finishing the assembly.
The following steps are also included after the fourth step:
step five: and detecting whether the screen ring combination is assembled in place by using the fork-shaped sensor, wherein the assembly is qualified if the screen ring combination is assembled in place, and the assembly is unqualified if the screen ring combination is not assembled in place.
The specific method for detecting whether the screen ring combination is assembled in place by using the fork-shaped sensor comprises the following steps:
and driving the detection end of the fork-shaped sensor to move a set distance towards the screen ring combination direction, sensing whether the fork-shaped sensor is contacted with the screen ring combination within the set distance range, if so, the assembly is not in place, and otherwise, the assembly is in place.
And after the second step is successfully grabbed, firstly removing dust from the screen ring combination, and then executing the third step.
A screen ring combination assembling system based on a six-axis robot platform comprises the following units:
a grabbing unit: a six-axis robot is used for grabbing a screen ring combination to be assembled in a bin drawer,
a judging unit: judging whether the screen ring combination is successfully grabbed, starting the positioning unit when the grabbing is successful, restarting the grabbing unit when the grabbing is unsuccessful,
a positioning unit: the screen ring combination is placed at the positioning position, two positioning pins at the positioning position penetrate through two positioning holes of the screen ring combination to realize positioning,
assembling a unit: and (4) grabbing the screen ring combination at the positioning position by using the six-axis robot again, driving the screen ring combination to be pressed at the position to be assembled by the six-axis robot, and keeping the position for 5s +/-200 ms to complete the screen ring combination assembly.
The above system further comprises a preparation unit comprising the following modules:
station judging module: reading the current work station information, judging whether the current work station can execute work, starting the correlation sensing module when the current work station can execute work, starting the work station alarming module when the current work station can not execute work,
the correlation sensing module: judging whether a drawer extends out of the storage bin by using a correlation sensor, starting a work station alarm module when the drawer is drawn out, starting a drawer judging module when no drawer is drawn out,
a drawer judgment module: the bin drawer where the screen ring combination to be assembled is arranged is drawn out, whether the bin drawer is in place or not is judged, when the bin drawer is in place, the grabbing unit is started, when the bin drawer is not in place, the station alarm module is started,
station alarm module: and alarming the problems existing in the current work station.
The system further comprises the following units:
a detection unit: and detecting whether the screen ring combination is assembled in place by using a fork-shaped sensor.
The detection unit specifically comprises the following modules:
a driving module: the detection end of the fork-shaped sensor is driven to move a set distance towards the screen ring combination direction,
a perception module: and sensing whether the screen circle combination is contacted or not by utilizing the fork-shaped sensor within a set distance range.
The system further comprises a dust removal unit: after the screen ring combination is successfully grabbed, the screen ring combination is firstly dedusted, and then the positioning unit is started.
The invention adopts a six-axis robot to match with a material vehicle for picking up, dedusting and assembling, and is provided with a fork-shaped sensor to detect whether the assembly is in place. Compared with the existing automatic assembly, the main differences are that: the six-axis robot arm has a large extension range, and in the extension range, if a product is replaced, only the coordinates of each point need to be replaced, so that the six-axis robot arm is convenient and quick to replace. Meanwhile, the clamping jaw of the robot adopts a bionic mechanism, so that the direct contact with the surface of the screen ring is avoided, and the scratch is prevented; and a fork-shaped sensor is adopted for buckle detection, so that the omission is avoided.
Drawings
Fig. 1 is a flow chart of a screen circle assembly method based on a six-axis robot platform according to the present invention.
Detailed Description
The first embodiment is as follows: specifically describing the present embodiment with reference to fig. 1, the screen circle assembly method based on a six-axis robot platform 1 in the present embodiment includes the following steps:
step 01: reading the information of the current work station, judging whether the current work station can execute the work, if so, executing the step 02, otherwise, finishing the assembly,
step 02: judging whether a drawer extends out of the bin by using the correlation sensor, if so, finishing assembly, otherwise, executing the step 03:
step 03: and (4) extracting the bin drawer where the screen ring combination to be assembled is located, judging whether the bin drawer is in place, if so, executing the step one, and otherwise, finishing the assembly.
The method comprises the following steps: a six-axis robot is used for grabbing screen ring combinations to be assembled in a bin drawer, 1-30 bin positions are set in a bin during actual application, grabbing sequence is fixed in a program, grabbing is started from the 1 st position in each production, and screen ring combinations to be assembled at the next position are automatically obtained next time;
step two: judging whether the screen ring combination is successfully grabbed, if so, firstly removing dust from the screen ring combination, then executing the step three, otherwise, returning to the step one,
step three: the screen ring combination is placed at the positioning position, two positioning pins at the positioning position penetrate through two positioning holes of the screen ring combination to realize positioning,
step four: and (4) grabbing the screen ring combination at the positioning position by using the six-axis robot again, driving the screen ring combination to be pressed at the position to be assembled by the six-axis robot, and keeping the position for 5s +/-200 ms to complete the screen ring combination assembly.
Step five: and detecting whether the screen ring combination is assembled in place by using the fork-shaped sensor, wherein the assembly is qualified if the screen ring combination is assembled in place, and the assembly is unqualified if the screen ring combination is not assembled in place.
Specifically, the specific method for detecting whether the screen circle combination is assembled in place by using the fork-shaped sensor comprises the following steps:
and driving the detection end of the fork-shaped sensor to move a set distance towards the screen ring combination direction, sensing whether the fork-shaped sensor is contacted with the screen ring combination within the set distance range, if so, the assembly is not in place, and otherwise, the assembly is in place.
The second embodiment is as follows: the screen ring combination assembling system based on the six-axis robot platform according to the embodiment includes the following units:
a preparation unit comprising the following modules:
station judging module: reading the current work station information, judging whether the current work station can execute work, starting the correlation sensing module when the current work station can execute work, starting the work station alarming module when the current work station can not execute work,
the correlation sensing module: judging whether a drawer extends out of the storage bin by using a correlation sensor, starting a work station alarm module when the drawer is drawn out, starting a drawer judging module when no drawer is drawn out,
a drawer judgment module: the bin drawer where the screen ring combination to be assembled is arranged is drawn out, whether the bin drawer is in place or not is judged, when the bin drawer is in place, the grabbing unit is started, when the bin drawer is not in place, the station alarm module is started,
station alarm module: and alarming the problems existing in the current work station.
A grabbing unit: a six-axis robot is used for grabbing a screen ring combination to be assembled in a bin drawer,
a judging unit: judging whether the screen ring combination is successfully grabbed, starting the dust removal unit when the grabbing is successful, restarting the grabbing unit when the grabbing is unsuccessful,
a dust removal unit: and dedusting the screen ring combination, and then starting the positioning unit.
A positioning unit: the screen ring combination is placed at the positioning position, two positioning pins at the positioning position penetrate through two positioning holes of the screen ring combination to realize positioning,
assembling a unit: and (4) grabbing the screen ring combination at the positioning position by using the six-axis robot again, driving the screen ring combination to be pressed at the position to be assembled by the six-axis robot, and keeping the position for 5s +/-200 ms to complete the screen ring combination assembly.
A detection unit: and detecting whether the screen ring combination is assembled in place by using a fork-shaped sensor.
The detection unit specifically comprises the following modules:
a driving module: the detection end of the fork-shaped sensor is driven to move a set distance towards the screen ring combination direction,
a perception module: and sensing whether the screen circle combination is contacted or not by utilizing the fork-shaped sensor within a set distance range.
Claims (10)
1. A screen ring combined assembly method based on a six-axis robot platform is characterized by comprising the following steps:
the method comprises the following steps: a six-axis robot is used for grabbing a screen ring combination to be assembled in a bin drawer,
step two: judging whether the screen circle combination is successfully grabbed, if so, executing the step three, otherwise, returning to the step one,
step three: the screen ring combination is placed at the positioning position, two positioning pins at the positioning position penetrate through two positioning holes of the screen ring combination to realize positioning,
step four: and (4) grabbing the screen ring combination at the positioning position by using the six-axis robot again, driving the screen ring combination to be pressed at the position to be assembled by the six-axis robot, and keeping the position for 5s +/-200 ms to complete the screen ring combination assembly.
2. The six-axis robot platform based screen circle assembly assembling method of claim 1, further comprising the following steps before step one:
step 01: reading the information of the current work station, judging whether the current work station can execute the work, if so, executing the step 02, otherwise, finishing the assembly,
step 02: judging whether a drawer extends out of the bin by using the correlation sensor, if so, finishing assembly, otherwise, executing the step 03:
step 03: and (4) extracting the bin drawer where the screen ring combination to be assembled is located, judging whether the bin drawer is in place, if so, executing the step one, and otherwise, finishing the assembly.
3. The six-axis robot platform based screen circle combination assembling method according to claim 1 or 2, characterized by further comprising the following steps after the fourth step:
step five: and detecting whether the screen ring combination is assembled in place by using the fork-shaped sensor, wherein the assembly is qualified if the screen ring combination is assembled in place, and the assembly is unqualified if the screen ring combination is not assembled in place.
4. The six-axis robot platform-based screen ring combination assembling method of claim 3, wherein the specific method for detecting whether the screen ring combination is assembled in place by using the fork-shaped sensor comprises the following steps:
and driving the detection end of the fork-shaped sensor to move a set distance towards the screen ring combination direction, sensing whether the fork-shaped sensor is contacted with the screen ring combination within the set distance range, if so, the assembly is not in place, and otherwise, the assembly is in place.
5. The six-axis robot platform-based screen circle assembly assembling method according to claim 1,
and after the second step of grabbing is successful, firstly removing dust from the screen ring combination, and then executing the third step.
6. A screen ring combined assembling system based on a six-axis robot platform is characterized by comprising the following units:
a grabbing unit: a six-axis robot is used for grabbing a screen ring combination to be assembled in a bin drawer,
a judging unit: judging whether the screen ring combination is successfully grabbed, starting the positioning unit when the grabbing is successful, restarting the grabbing unit when the grabbing is unsuccessful,
a positioning unit: the screen ring combination is placed at the positioning position, two positioning pins at the positioning position penetrate through two positioning holes of the screen ring combination to realize positioning,
assembling a unit: and (4) grabbing the screen ring combination at the positioning position by using the six-axis robot again, driving the screen ring combination to be pressed at the position to be assembled by the six-axis robot, and keeping the position for 5s +/-200 ms to complete the screen ring combination assembly.
7. The six-axis robot platform based screen circle assembly method of claim 6, further comprising a preparation unit, the preparation unit comprising the following modules:
station judging module: reading the current work station information, judging whether the current work station can execute work, starting the correlation sensing module when the current work station can execute work, starting the work station alarming module when the current work station can not execute work,
the correlation sensing module: judging whether a drawer extends out of the storage bin by using a correlation sensor, starting a work station alarm module when the drawer is drawn out, starting a drawer judging module when no drawer is drawn out,
a drawer judgment module: the bin drawer where the screen ring combination to be assembled is arranged is drawn out, whether the bin drawer is in place or not is judged, when the bin drawer is in place, the grabbing unit is started, when the bin drawer is not in place, the station alarm module is started,
station alarm module: and alarming the problems existing in the current work station.
8. The six-axis robot platform based screen circle combination assembling method according to claim 6 or 7, characterized by further comprising the following units:
a detection unit: and detecting whether the screen ring combination is assembled in place by using a fork-shaped sensor.
9. The six-axis robot platform-based screen circle combination assembling method of claim 8, wherein the detection unit specifically comprises the following modules:
a driving module: the detection end of the fork-shaped sensor is driven to move a set distance towards the screen ring combination direction,
a perception module: and sensing whether the screen circle combination is contacted or not by utilizing the fork-shaped sensor within a set distance range.
10. The six-axis robot platform-based screen ring combination assembling method of claim 6, further comprising a dust removing unit: after the screen ring combination is successfully grabbed, the screen ring combination is firstly dedusted, and then the positioning unit is started.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911197828.XA CN110814742A (en) | 2019-11-29 | 2019-11-29 | Screen ring combined assembling system and method based on six-axis robot platform |
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| CN201911197828.XA CN110814742A (en) | 2019-11-29 | 2019-11-29 | Screen ring combined assembling system and method based on six-axis robot platform |
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Application publication date: 20200221 |