CN110989587B - Intelligent fastening control system and method for robot - Google Patents
Intelligent fastening control system and method for robot Download PDFInfo
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- CN110989587B CN110989587B CN201911204664.9A CN201911204664A CN110989587B CN 110989587 B CN110989587 B CN 110989587B CN 201911204664 A CN201911204664 A CN 201911204664A CN 110989587 B CN110989587 B CN 110989587B
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- 238000007405 data analysis Methods 0.000 claims description 9
- 230000036541 health Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 2
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- 238000003754 machining Methods 0.000 abstract description 3
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- 229910000831 Steel Inorganic materials 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention belongs to the technical field of robots and intelligent machining of robots, and discloses an intelligent fastening control system and method for robots. The system comprises: the automatic box screwing machine comprises a central control module, a sliding rail module, a servo motor module, a positioning module, an automatic addressing module, a screwing axle box module and an automatic conveying line module, wherein the central control module controls the servo motor module, the automatic addressing module and the screwing axle box module through instructions to drive the sliding rail module to move, and scans and detects workpieces so that the central control module judges whether the workpieces are qualified or not, detects the workpieces and completes screwing, feeding and automatic withdrawing actions of workpiece bolts in cooperation with the servo motor module, and the automatic conveying line module cooperates with the servo motor module to realize workpiece conveying. Through the technical scheme, the steps and time of manual operation are saved, and the efficiency and quality of workpiece assembly are improved.
Description
Technical Field
The invention belongs to the technical field of robots and intelligent machining of robots, and particularly relates to an intelligent fastening control system and method for robots.
Background
With the advent of the bullet train era, bullet train travel has become the most important travel mode in life. The running safety of the train is ensured, the maintenance of each part is absolutely reliable, and the wheel pair is particularly important in the parts, so that the quality control of the maintenance of the wheel pair shaft end parts in the actual maintenance operation is enhanced, including the improvement of precision control and the clamping control of the operation flow, and the improvement of the working efficiency.
The main structural forms of the equipment for assembling the axle ends of the motor train unit in the railway industry at present are as follows:
(1) Fixed station type: the fixed upright posts or the cross beams are adopted to fix the tightening axle boxes, the positions of equipment and the tightening axles are fixed, the workpieces move, workers are required to push the workpieces on the rails to move, the workpieces work in a reciprocating mode, and the labor intensity of the workers is high and the efficiency is low.
(2) Simple mechanical type: the tightening axle box is hung by a steel wire rope, the top end of the steel wire rope is provided with a pulley, the pulley can slide along the track, and when in operation, the work pieces are orderly arranged, and the tightening axle box slides along the track. Therefore, although the labor intensity of workers is reduced, the axle box structure is simple in mechanical transmission, torque control, storage and transmission are not needed, process control is not needed, the intelligent degree is low, and the operation quality cannot be guaranteed.
(3) Servo control: compared with the modes (1) and (2), the tightening shaft in the case is controlled by the servo motor, the torque control is accurate, but the system does not have process control and system guiding error prevention mechanism for the field operation sequence, and the system lacks intelligent management.
The existing operation modes have strong dependence on experience and personal technology of operators, have low operation efficiency, cannot quantify data of each operation step and link in the operation process, and cannot guarantee the operation quality of parts in different batches when the operators change.
Disclosure of Invention
The invention aims to provide an intelligent robot fastening control system and method for improving efficiency and quality of workpiece assembly.
In order to solve the above technical problems, the present invention provides a system comprising:
the device comprises a central control module, a slide rail module, a servo motor module, a positioning module, an automatic addressing module, a tightening axle box module and an automatic conveying line module, wherein,
the central control module controls the servo motor module to drive the slide rail module to move through an instruction, and controls the automatic conveying line module to cooperate with the servo motor module to realize workpiece conveying;
the central control module controls the automatic addressing module to scan the workpiece through an instruction to acquire position coordinate data of the workpiece and feeds the position coordinate data back to the central control module; the automatic addressing module is also used for detecting the flaw of the workpiece and sending the health data of the workpiece to the central control module so that the central control module can judge whether the workpiece is qualified or not through data analysis;
the sliding rail module drives the tightening axle box module to move through the driving of the servo motor module, the tightening axle box module detects through the central control module instruction, and detected information is fed back to the central control module;
the tightening axle box module is also used for completing the actions of tightening, feeding and automatic withdrawing of the workpiece bolts through the coordination of the central control module command and the servo motor module;
the positioning module is positioned above the sliding rail module and used for positioning the sliding rail module.
Preferably, the central control module comprises system software and a central computer;
the central computer comprises an alarm indication module, a servo motor driver, a signal receiving and transmitting processor, a tightening shaft controller and an EPOD data synchronizer;
the servo motor module comprises a longitudinal rail servo motor, a transverse rail servo motor, a vertical rail servo motor and a turntable servo motor.
The sliding rail module comprises a longitudinal sliding rail assembly, a transverse sliding rail assembly and a vertical sliding rail assembly.
Preferably, the central control module controls the servo motor module to drive the slide rail module to move through instructions, and the central control module comprises:
the system software sends out an instruction to control the sliding rail module to move through the servo motor driver in the central computer;
correspondingly, the workpiece conveying by controlling the automatic conveying line module to be matched with the servo motor module comprises the following steps:
the automatic conveying line module is provided with a positioning sensor, and the positioning sensor transmits workpiece in-place information to the central computer through the signal receiving and transmitting device;
the system software sends out instructions to pass through the servo motor driver and the signal receiving and transmitting processor, and the automatic conveying line module is matched with the servo motor module and the positioning sensor to automatically convey the workpiece placed in advance to the equipment workbench.
Preferably, the central control module controls the automatic addressing module to scan the workpiece by an instruction to obtain position coordinate data of the workpiece and feeds the position coordinate data back to the central control module, and the central control module comprises:
the automatic addressing module comprises an RFID antenna and a flaw detection module;
the system software sends out an instruction, the instruction is sent to the automatic addressing module through the signal receiving and transmitting device, the RFID antenna of the automatic addressing module and the flaw detection module scan workpieces, and scanned workpiece information is fed back to the central computer;
correspondingly, the automatic addressing module is also used for detecting the flaw of the workpiece and sending the health data of the workpiece to the central control module, so that the central control module judges whether the workpiece is qualified or not through data analysis and comprises the following steps:
the flaw detection module detects the flaw of the workpiece, records the position, the size, the width and the depth data of the flaw, and feeds the data back to the central computer so that the central control module can judge whether the workpiece is qualified or not through data analysis.
Preferably, the RFID antenna of the automatic addressing module performs workpiece scanning, and feeds back scanned workpiece information to the central computer includes:
the RFID antenna scans and acquires an RFID tag mounted on a workpiece on the workbench, acquires position coordinate data of a wheel set workpiece and feeds back the position coordinate data to the central computer;
the central computer feeds back the position coordinate data to system software, the system software sends out instructions to the servo motor driver, the servo motor driver sends out signals to the longitudinal rail servo motor, and the transverse sliding rail assembly is driven to a position right above the coordinate data of the workpiece and braked.
Preferably, the automatic addressing module is further configured to detect a flaw of the workpiece, and send the workpiece health data to the central control module, so that the central control module determines whether the workpiece is qualified through data analysis, and further includes:
and the central computer identifies and compares the health data, if the data is unqualified, the processing is stopped, and if the data is qualified, the operation is continued.
Preferably, the driving of the slide rail module by the servo motor module drives the tightening axle box module to move includes:
the system software sends signals to the vertical rail servo motor through the central computer and the servo motor driver, and the vertical rail servo motor drives the vertical sliding rail to drive the tightening axle box to move downwards;
correspondingly, the tightening axle box module detects through the central control module command, and feeds back detected information to the central control module comprises:
the tightening axle box module comprises a tightening axle box, a laser range finder and a hole site identification camera;
and the system software sends out instructions to the laser range finder and the hole site identification camera through the signal receiving and sending processor, and when the alignment of the tightening axle box and the workpiece is detected, a signal is sent back to the central computer.
Preferably, after the detecting and feeding back the detected information to the central control module, the method further comprises:
the system software receives the signals and then sends out instructions, the signals are sent to the vertical rail servo motor through the servo motor driver, and braking operation is completed;
the laser range finder and the hole site recognition camera send bolt hole site angle data of the workpiece and distance data from the tightening axle box to the workpiece to the central computer in real time, so that the transverse rail servo motor and the turntable servo motor complete self-adaptive adjustment and alignment actions of the tightening axle box tightening axle and the threaded hole site of the workpiece, and brake.
Preferably, the tightening axle box module is further configured to complete tightening, feeding and automatic retracting actions of the workpiece bolt by being instructed by the central control module to cooperate with the servo motor module, and the actions include:
and the system software sends out an instruction, drives the tightening axle box to rotate through the tightening axle controller and the EPOD data synchronizer, keeps the rotation speed and the data synchronous, and completes the actions of tightening, feeding and automatic withdrawing of the workpiece bolt through the cooperation with the transverse rail servo motor.
Preferably, the tightening axle box module is further used for completing the actions of tightening, feeding and automatic withdrawing of the workpiece bolts by being matched with the servo motor module through the command of the central control module, and the tightening axle box module further comprises:
and the system software sends instructions to the longitudinal rail servo motor and the automatic addressing module through a servo motor driver and a signal receiving and transmitting processor so as to circularly drive the transverse rail assembly to slide and address, position and detect the unworked workpieces until all the workpieces are assembled and detected.
In addition, in order to achieve the above object, the present invention also provides a robot intelligent fastening control method, including:
driving a workpiece to move by using a servo motor and an automatic conveying line;
scanning the workpiece position coordinate data and feeding back to the central computer;
flaw detection is carried out on the workpiece, and the position, the size, the width and the depth data of the flaw are recorded;
judging whether the workpiece is qualified according to the data, if the data is not qualified, stopping the machine, and if the data is qualified, performing the following steps;
transmitting the detected bolt hole position angle data of the workpiece and the distance data from the tightening axle box to the workpiece to a central computer;
and adjusting and aligning the screw thread hole positions of the tightening shaft box and the workpiece according to the data, and performing tightening, feeding and automatic withdrawing operations on the workpiece bolt.
The invention provides an intelligent fastening control system of a robot, which comprises: the automatic workpiece conveying device comprises a central control module, a sliding rail module, a servo motor module, a positioning module, an automatic addressing module, a tightening axle box module and an automatic conveying line module, wherein the central control module controls the servo motor module, the automatic conveying line module and the automatic addressing module to drive the sliding rail module through instructions, and the workpiece conveying and workpiece scanning are realized by matching with the servo motor module; the automatic addressing module can also detect the flaw of the workpiece and feed back data so that the central control module can judge whether the workpiece is qualified or not; the slide rail module drives the tightening axle box module to move, the tightening axle box module detects a workpiece through an instruction and feeds back data, and the tightening axle box module can be matched with the servo motor module to complete tightening, feeding and automatic withdrawing actions of a workpiece bolt; the positioning module is used for positioning the slide rail module. Through the technical scheme, the intelligent fastening control system of the robot is formed, and the efficiency and quality of workpiece assembly are improved.
Drawings
FIG. 1 is a schematic diagram of a robot intelligent fastening control system according to an embodiment of the invention;
FIG. 2 is a control schematic diagram of a robot intelligent fastening control system according to an embodiment of the present invention;
FIG. 3 is a diagram showing a construction of a robot intelligent fastening control system according to an embodiment of the present invention;
FIG. 4 is a flow chart of intelligent robot fastening control according to an embodiment of the invention;
the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The principles and spirit of the present invention will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are presented merely to enable those skilled in the art to better understand and practice the invention and are not intended to limit the scope of the invention in any way. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Example 1
Referring to fig. 3, the invention provides a structural diagram of a robot intelligent fastening control system, which comprises various components and structural relations among the components.
The method specifically comprises the following steps: the device comprises a central control cabinet, a longitudinal sliding rail assembly, a transverse sliding rail assembly, a laser positioning instrument, a longitudinal rail servo motor, a transverse rail servo motor, a vertical rail servo motor, an automatic addressing instrument, a vertical sliding rail assembly, a tightening axle box and a workpiece automatic conveying line.
The automatic conveying line automatically conveys the wheel set workpieces to the lower part of the equipment, the wheel set workpieces are clamped and positioned in a self-adaptive mode by matching with the positioning addressing module, and the workpieces are automatically conveyed to the next station after the operation is completed. It should be noted that in the embodiment of the present invention, the main workpiece to be processed is a wheel set workpiece.
The two longitudinal sliding rail components are all of a steel structure, the sliding rail is of a gear-rack structure, a driving mechanism on the transverse sliding rail is meshed with the sliding rail to provide a rail for the sliding rail to move in the longitudinal direction, and the laser positioning instrument is further arranged at the end head of the longitudinal sliding rail and used for assisting the sliding positioning of the transverse sliding rail component in the longitudinal direction.
The transverse sliding rail component is meshed with the gear rack and is located on the longitudinal sliding rail, and the two ends of the transverse sliding rail component are provided with longitudinal rail driving servo motors which can enable the transverse sliding rail component to synchronously slide on the two ends of the longitudinal sliding rail according to system instructions.
The vertical sliding rail component is connected with the transverse rail driving servo motor through a transit connection motor seat, and can slide along the transverse direction through the horizontal sliding rail of the gear rack structure and the transverse sliding rail component.
The vertical driving servo motor on the vertical sliding rail assembly is connected with the transit connection motor base firstly and then is connected with the vertical sliding rail through the worm and gear mechanism, and the vertical sliding rail can move up and down in the vertical direction along the transit connection motor base through the motor driving.
The tightening axle box assembly is hung at the end position of the lowest end of the vertical sliding rail, and the vertical sliding rail can complete up-down and horizontal feeding movement under the driving of the vertical sliding rail.
The intelligent fastening control system of the robot is realized based on the hardware structure. Referring specifically to fig. 1, a schematic diagram of a robot intelligent fastening control system and fig. 2, a schematic diagram of a robot intelligent fastening control system are shown.
An intelligent robot fastening control system, comprising: the automatic axle box tightening device comprises a central control module, a sliding rail module, a servo motor module, a positioning module, an automatic addressing module, an axle box tightening module and an automatic conveying line module.
The central control module controls the servo motor module to drive the slide rail module to move through instructions, and controls the automatic conveying line module to cooperate with the servo motor module to realize workpiece conveying;
the central control module comprises system software and a central computer, the central computer comprises an alarm indication module, a servo motor driver, a signal receiving and transmitting processor, a tightening shaft controller and an EPOD data synchronizer, and the servo motor module comprises: the sliding rail module comprises a longitudinal sliding rail assembly, a transverse sliding rail assembly and a vertical sliding rail assembly.
Firstly, system software runs a self-checking program and sends out instructions, the instructions pass through a central computer and reach a servo motor driver, and the servo motor driver sends out signals to all servo motors to drive all coordinate axes to finish zero-returning actions.
The system software sends out instructions, the instructions are converted into signal instructions through a servo motor driver and a signal receiving processor, an automatic workpiece wire conveying module starts to work, and a servo motor works in cooperation with a positioning sensor to automatically convey the workpiece which is placed in advance to an equipment workbench.
The positioning module is positioned on the automatic conveying line and comprises a positioning sensor, and the positioning sensor transmits workpiece in-place information to the central computer through a signal receiving and transmitting processor in the central computer.
Through the operation, the wheel set workpiece is conveyed to the equipment workbench, so that preparation work is performed for machining the wheel set workpiece.
The central control module controls the automatic addressing module to scan the workpiece through an instruction to acquire position coordinate data of the workpiece and feeds the position coordinate data back to the central control module; the automatic addressing module is also used for detecting the flaw of the workpiece and sending the health data of the workpiece to the central control module so that the central control module can judge whether the workpiece is qualified or not through data analysis.
After receiving the information, the system software sends out an instruction, and sends the instruction to the automatic addressing module through the central computer and the signal receiving and transmitting processor, and the RFID antenna and the flaw detection module of the automatic addressing module are started to scan the workpiece and feed back the information.
After receiving the information, the system software sends out an instruction, and sends the instruction to a longitudinal rail servo motor through a central computer and a servo motor driver, and the longitudinal rail servo motor drives the transverse sliding rail assembly to move from a zero position along the longitudinal rail.
The RFID antenna on the automatic addressing module scans and acquires RFID labels mounted on the wheel set workpiece on the workbench, acquires position coordinate data of the wheel set workpiece, and transmits signals back to the central computer.
After receiving the coordinate information of the wheel set workpiece sent by the automatic addressing module, the system software sends an instruction to a servo motor driver, and a servo controller sends a signal to a longitudinal rail servo motor to drive a transverse sliding rail assembly to come to the position right above the acquired coordinate data of the wheel set workpiece and brake.
After receiving the braking signal returned by the servo driver, the system software sends out an instruction, the automatic addressing module is started by the signal receiving and transmitting processor, the flaw detection module on the module starts to perform integral flaw detection on the workpiece by the ray scanning, the position, the size, the width and the depth data of the flaw are recorded, and the data are summarized by the data processor and then sent to the central computer. The central computer identifies and compares the data to judge whether the data is qualified, if the data is not qualified, the machine stops processing, and if the data is qualified, the following steps are carried out.
Through the technical scheme, the addressing and positioning operation of a plurality of wheel pair workpieces in the longitudinal direction is automatically finished by adopting the laser positioning sensor technology, the vision and image recognition processing technology and combining with the servo motor control technology, the gear rack sliding rail and the like, so that the accurate detection of the workpieces is realized, the steps and time for manually operating the wheel pair workpieces are saved, and the operation efficiency and quality are improved.
The sliding rail module drives the tightening axle box module to move through the driving of the servo motor module, the tightening axle box module detects through the central control module command, and detected information is fed back to the central control module.
After receiving the signal, the system software automatically jumps to the next step, sends out an instruction, and sends the signal to the vertical rail servo motor through the central computer and the servo motor driver, and the vertical rail servo motor drives the vertical sliding rail to drive the tightening axle box to move downwards.
The system software sends out instructions to the laser range finder and the hole site identification camera on the tightening axle box through the signal receiving and dispatching processor, and when the tightening axle box is detected to be aligned with the wheel set workpiece, signals are sent back to the central computer.
And the system software receives the signals and then sends out instructions, and the signals are sent to the vertical rail servo motor through the servo motor driver to finish braking.
And the laser range finder and the bolt hole site identification camera on the tightening axle box continue to work, and bolt hole site angle data of the wheel set workpiece and distance data from the tightening axle box to the wheel set workpiece are sent to the central computer in real time.
And the system software sends out instructions after receiving the data, and sends signals to the transverse rail servo motor and the turntable servo motor through the servo motor driver to complete the self-adaptive adjustment and alignment actions of the screw hole positions of the tightening shaft box and the wheel set workpiece and brake.
Through the technical scheme, the addressing and positioning operation of a plurality of wheel pair workpieces in the longitudinal direction is automatically finished by adopting the laser positioning sensor technology, the vision and image recognition processing technology and combining with the servo motor control technology, the gear rack sliding rail and the like, so that the accurate detection of the workpieces is realized, the steps and time for manually operating the wheel pair workpieces are saved, and the operation efficiency and quality are improved.
The tightening axle box module is also used for completing the actions of tightening, feeding and automatic withdrawing of the workpiece bolts through the coordination of the central control module command and the servo motor module;
the positioning module is positioned above the sliding rail module and used for positioning the sliding rail module.
The system software sends out instructions, the tightening shaft is driven to rotate through the tightening shaft controller and the EPOD data synchronizer, the rotating speed and the data synchronization are kept, and the tightening, feeding and automatic withdrawing actions of the wheel pair workpiece bolts are completed through the cooperation with the transverse rail servo motor.
Through the technical scheme, the self-adaptive adjustment of the posture and the angle of the tightening axle box and the automatic axial feeding and the screw tightening and automatic return-to-zero operation of the screw bolt are automatically completed when the postures of the connecting holes of the wheel pair workpiece are different by adopting the laser positioning sensor technology, the vision and image recognition processing technology and combining with the servo motor control technology, the worm gear guide rail and the like, the steps and the time for aligning, feeding and tightening the manual operation tightening axle box are saved, and the operation efficiency and the quality are improved.
Example two
And the system software sends instructions to the longitudinal rail servo motor and the automatic addressing module through a servo motor driver and a signal receiving and transmitting processor so as to circularly drive the transverse rail assembly to slide and address, position and detect the unworked workpieces until all the workpieces are assembled and detected.
The system software receives the feedback signal, sends out an instruction after data processing, and sends the signal to the vertical servo motor through the servo motor driver to complete the zeroing action of the vertical coordinate axis;
the system software continuously sends out instructions, and signals are sent to the longitudinal rail servo motor through the servo motor driver to drive the transverse rail assembly to continuously slide along the longitudinal rail; and sending a signal to an automatic addressing module through a signal receiving and transmitting processor block, addressing, positioning and detecting the flaw of the workpiece which is not operated at the back, and then performing the following operation steps, thus repeating the steps.
When all wheel sets work-pieces are finished, the system software receives the feedback signals, the computer sends out instructions, the signals are transmitted to the servo motors of all coordinate axes through the servo motor driver, and the zeroing action of all coordinate axes of the equipment is completed.
Through the technical scheme, the unassembled and detected wheel set workpieces are automatically circulated to operate until all wheel set workpieces are operated, signals are transmitted to the servo motors of all coordinate axes through the servo motor driver, and the zeroing action of all coordinate axes of the equipment is completed. Not only can the efficiency and quality of the operation be improved, but also the automation degree of the system operation is improved.
Example III
Referring to fig. 4, a robot intelligent fastening control flow chart is provided, specifically:
s10: driving a workpiece to move by using a servo motor and an automatic conveying line;
s20: scanning the workpiece position coordinate data and feeding back to the central computer;
s30: flaw detection is carried out on the workpiece, and the position, the size, the width and the depth data of the flaw are recorded;
s40: judging whether the workpiece is qualified according to the data, if the data is not qualified, stopping the machine, and if the data is qualified, performing the following steps;
s50: and sending the detected bolt hole position angle data of the workpiece and the distance data from the tightening axle box to the workpiece to a central computer.
S60: and adjusting and aligning the screw thread hole positions of the tightening shaft box and the workpiece according to the data, and performing tightening, feeding and automatic withdrawing operations on the workpiece bolt.
Wherein, S10: driving a workpiece to move by using a servo motor and an automatic conveying line;
the system software controls the servo motor and the automatic conveying line driving wheel to move the workpiece by sending an instruction to the central computer, and the positioning sensor on the automatic conveying line transmits the workpiece in-place information of the wheel set to the central computer through the signal receiving processor in the central computer.
S20: scanning the workpiece position coordinate data and feeding back to the central computer;
the system software controls the automatic addressing module through the instruction, and the RFID antenna and the flaw detection module of the automatic addressing module are started to scan the workpiece and feed information back to the central computer.
Further, according to the fed back wheel set workpiece position information, the servo motor driver sends a signal to the longitudinal rail servo motor, and the transverse sliding rail assembly is driven to come to the position right above the obtained wheel set workpiece coordinate data, and the wheel set workpiece is braked.
S30: flaw detection is carried out on the workpiece, and the position, the size, the width and the depth data of the flaw are recorded;
s40: judging whether the workpiece is qualified according to the data, if the data is not qualified, stopping the machine, and if the data is qualified, performing the following steps;
after receiving a brake signal returned by the servo driver, system software sends an instruction to an automatic addressing module through a signal receiving and transmitting processor, a flaw detection module on the module starts to start, the whole flaw detection is carried out on a workpiece through ray scanning, the position, the size, the width and the depth data of the flaw are recorded, and the data are summarized and then sent to a central computer; the central computer recognizes and compares the data: if the data is not qualified, stopping processing, and if the data is qualified, performing the following steps.
S50: and sending the detected bolt hole position angle data of the workpiece and the distance data from the tightening axle box to the workpiece to a central computer.
Before this step, the system software issues instructions to the laser rangefinder and hole site identification camera on the tightening axle box via the signal transceiver processor, and when it is detected that the tightening axle box is aligned with the wheel set work piece, a signal is sent back to the central computer. The system software receives the signals and then sends out instructions, and the signals are sent to the vertical rail servo motor through the servo motor driver to finish braking;
the laser range finder and the bolt hole site identification camera on the tightening axle box continue to work, and bolt hole site angle data of the workpiece and distance data from the tightening axle box to the wheel set workpiece are sent to the central computer in real time.
S60: and adjusting and aligning the screw thread hole positions of the tightening shaft box and the workpiece according to the data, and performing tightening, feeding and automatic withdrawing operations on the workpiece bolt.
And the system software sends out instructions after receiving the data, and sends signals to the transverse rail servo motor and the turntable servo motor through the servo motor driver to complete the self-adaptive adjustment and alignment actions of the screw hole positions of the tightening shaft box and the wheel set workpiece and brake.
The system software sends out instructions, the tightening shaft is driven to rotate through the tightening shaft controller and the EPOD data synchronizer, the rotating speed and the data synchronization are kept, and the tightening, feeding and automatic withdrawing actions of the wheel set bolts are completed through the cooperation with the transverse rail servo motor.
The embodiment of the invention provides an intelligent fastening control method for a robot, which comprises the following steps: driving a workpiece to move by using a servo motor and an automatic conveying line; scanning the workpiece position coordinate data and feeding back to the central computer; flaw detection is carried out on the workpiece, and the position, the size, the width and the depth data of the flaw are recorded;
judging whether the workpiece is qualified according to the data, if the data is not qualified, stopping the machine, and if the data is qualified, performing the following steps; and sending the detected bolt hole position angle data of the workpiece and the distance data from the tightening axle box to the workpiece to a central computer. And adjusting and aligning the screw thread hole positions of the tightening shaft box and the workpiece according to the data, and performing tightening, feeding and automatic withdrawing operations on the workpiece bolt. Through the technical scheme, the intelligent fastening control method for the robot is formed, and the efficiency and quality of workpiece assembly are improved.
Claims (5)
1. An intelligent robot fastening control system, comprising: the device comprises a central control module, a slide rail module, a servo motor module, a positioning module, an automatic addressing module, a tightening axle box module and an automatic conveying line module, wherein,
the central control module controls the servo motor module to drive the slide rail module to move through an instruction, and controls the automatic conveying line module to cooperate with the servo motor module to realize workpiece conveying;
the central control module controls the automatic addressing module to scan the workpiece through an instruction to acquire position coordinate data of the workpiece and feeds the position coordinate data back to the central control module, and the automatic addressing module is also used for detecting the flaw of the workpiece and sending the health data of the workpiece to the central control module so that the central control module can judge whether the workpiece is qualified or not through data analysis;
the sliding rail module drives the tightening axle box module to move through the driving of the servo motor module, the tightening axle box module detects through the central control module instruction, and detected information is fed back to the central control module;
the tightening axle box module is also used for completing the actions of tightening, feeding and automatic withdrawing of the workpiece bolts through the coordination of the central control module command and the servo motor module;
the positioning module is positioned above the sliding rail module and used for positioning the sliding rail module;
the central control module comprises system software and a central computer;
the central computer comprises an alarm indication module, a servo motor driver, a signal receiving and transmitting processor, a tightening shaft controller and an EPOD data synchronizer;
the servo motor module comprises a longitudinal rail servo motor, a transverse rail servo motor, a vertical rail servo motor and a turntable servo motor;
the sliding rail module comprises a longitudinal sliding rail assembly, a transverse sliding rail assembly and a vertical sliding rail assembly;
the central control module controls the servo motor module to drive the slide rail module to move through instructions, and the central control module comprises:
the system software sends out an instruction to control the sliding rail module to move through the servo motor driver in the central computer;
correspondingly, the workpiece conveying by controlling the automatic conveying line module to be matched with the servo motor module comprises the following steps:
the automatic conveying line module is provided with a positioning sensor, and the positioning sensor transmits workpiece in-place information to the central computer through the signal receiving and transmitting processor;
the system software sends out an instruction to pass through the servo motor driver and the signal receiving and transmitting processor, and the automatic conveying line module is matched with the servo motor module and the positioning sensor to automatically convey the workpiece which is placed in advance to the equipment workbench;
the central control module controls the automatic addressing module to scan the workpiece through an instruction to acquire position coordinate data of the workpiece and feeds the position coordinate data back to the central control module, and the central control module comprises:
the automatic addressing module comprises an RFID antenna and a flaw detection module;
the system software sends out an instruction, the instruction is sent to the automatic addressing module through the signal receiving and sending processor, the RFID antenna of the automatic addressing module and the flaw detection module scan workpieces, and scanned workpiece information is fed back to the central computer;
correspondingly, the automatic addressing module is also used for detecting the flaw of the workpiece and sending the health data of the workpiece to the medium-speed machine
The central control module is convenient for the central control module judges whether the workpiece is qualified through data analysis and comprises the following components:
the flaw detection module detects the flaw of the workpiece, records the position, the size, the width and the depth data of the flaw, and feeds the data back to the central computer so that the central control module can judge whether the workpiece is qualified or not through data analysis
The automatic addressing module is also used for detecting a flaw of a workpiece, and sending the health data of the workpiece to the central control module, so that the central control module judges whether the workpiece is qualified or not through data analysis and comprises the following steps:
the central computer identifies and compares the health data, if the data is unqualified, the processing is stopped, and if the data is qualified, the operation is continued;
the sliding rail module drives the tightening axle box module to move through the driving of the servo motor module comprises the following steps:
the system software sends signals to the vertical rail servo motor through the central computer and the servo motor driver, and the vertical rail servo motor drives the vertical sliding rail to drive the tightening axle box to move downwards;
correspondingly, the tightening axle box module detects through the central control module command, and feeds back detected information to the central control module comprises:
the tightening axle box module comprises a tightening axle box, a laser range finder and a hole site identification camera;
and the system software sends out instructions to the laser range finder and the hole site identification camera through the signal receiving and sending processor, and when the alignment of the tightening axle box and the workpiece is detected, a signal is sent back to the central computer.
2. The intelligent robot fastening control system of claim 1, wherein the RFID antenna of the automatic addressing module performs workpiece scanning and feeds scanned workpiece information back to the central computer comprises:
the RFID antenna scans and acquires an RFID tag mounted on a workpiece on the workbench, acquires position coordinate data of a wheel set workpiece and feeds back the position coordinate data to the central computer;
the central computer feeds back the position coordinate data to system software, the system software sends out instructions to the servo motor driver, the servo motor driver sends out signals to the longitudinal rail servo motor, and the transverse sliding rail assembly is driven to a position right above the coordinate data of the workpiece and braked.
3. The intelligent robot fastening control system of claim 1, further comprising, after the detecting and feeding back the detected information to the central control module:
the system software receives the signals and then sends out instructions, the signals are sent to the vertical rail servo motor through the servo motor driver, and braking operation is completed;
the laser range finder and the hole site recognition camera send bolt hole site angle data of the workpiece and distance data from the tightening axle box to the workpiece to the central computer in real time, so that the transverse rail servo motor and the turntable servo motor complete self-adaptive adjustment and alignment actions of the tightening axle box tightening axle and the threaded hole site of the workpiece, and brake.
4. A robot intelligent tightening control system according to claim 3, wherein the tightening axlebox module is further configured to complete tightening, feeding and automatic retraction actions of the workpiece bolts in cooperation with the servo motor module via the central control module command, comprising:
the system software sends out an instruction, the tightening shaft controller and the EPOD data synchronizer drive the tightening shaft box to rotate, keep the rotation speed and the data synchronous, and complete the actions of tightening, feeding and automatically retracting the workpiece bolt through the cooperation with the transverse rail servo motor;
the tightening axle box module is also used for completing the working process by matching the central control module instruction with the servo motor module
The tightening, feeding and automatic withdrawing actions of the piece bolt further comprise:
and the system software sends instructions to the longitudinal rail servo motor and the automatic addressing module through a servo motor driver and a signal receiving and transmitting processor so as to circularly drive the transverse rail assembly to slide and address, position and detect the unworked workpieces until all the workpieces are assembled and detected.
5. An intelligent robot fastening control method, which is characterized by being implemented by the system of claim 4, comprising:
driving a workpiece to move by using a servo motor and an automatic conveying line;
scanning the workpiece position coordinate data and feeding back the workpiece position coordinate data to a central computer;
flaw detection is carried out on the workpiece, and the position, the size, the width and the depth data of the flaw are recorded;
judging whether the workpiece is qualified according to the data, if the data is not qualified, stopping the machine, and if the data is qualified, performing the following steps;
transmitting the detected bolt hole position angle data of the workpiece and the distance data from the tightening axle box to the workpiece to a central computer;
and adjusting and aligning the screw thread hole positions of the tightening shaft box and the workpiece according to the data, and performing tightening, feeding and automatic withdrawing operations on the workpiece bolt.
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