CN111015207A - Automatic assembly system and assembly method for standard test engine - Google Patents
Automatic assembly system and assembly method for standard test engine Download PDFInfo
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- CN111015207A CN111015207A CN201911244535.2A CN201911244535A CN111015207A CN 111015207 A CN111015207 A CN 111015207A CN 201911244535 A CN201911244535 A CN 201911244535A CN 111015207 A CN111015207 A CN 111015207A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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Abstract
The invention provides an automatic assembly system and an assembly method of a standard test engine, which comprise a plurality of movable tool platforms used for placing and carrying parts of the standard test engine to be assembled, wherein a multi-freedom manipulator used for clamping and placing the parts is fixedly arranged at the middle position of the movable tool platform, transmission line bodies used for clamping and fixing the parts to be assembled are arranged at the sides of the multi-freedom manipulator and the movable tool platform, and a tightening device used for tightening the parts to be assembled is arranged at the rear side of the transmission line body. The system can be used for automatic assembly of a standard test engine, so that the traditional manual assembly process is replaced, the assembly efficiency is improved, and the labor intensity of operators is reduced; in addition, because the engine adopts the assembly of taking the medicine, consequently, it realizes snatching and placing the spare part among the assembly screwing up or the dismantlement process with the help of six degree of freedom manipulators, has improved the security of assembly, improves the quality and the performance of product.
Description
Technical Field
The invention belongs to the field of test engine assembly equipment, and particularly relates to an automatic assembly system and an automatic assembly method for a standard test engine.
Background
The standard test engine consists of a pressure measuring seat, an engine body, a connecting sleeve, a spray pipe sealing cover and a gasket, and the specific structure is shown in figure 14. The prior art adopts the manual work to assemble it, and in the concrete assembling process, at first, lay the packing ring by hand, all twist the screw threads with the assembly part, then two people cooperate and screw up with the afterburning in breakout tongs both ends, because each subassembly of engine is reuse spare, the connection part often appears damaging or warp, is difficult to assemble, and work load and the amount of labour are great, and production efficiency is low, and 20 engines are from preparing to experimental back clearance every day, and 8 operating personnel need 8~10h just can accomplish.
Disclosure of Invention
The invention mainly aims to provide an automatic assembly system and an assembly method for a standard test engine, wherein the system can be used for automatic assembly of the standard test engine, so that the traditional manual assembly process is replaced, the assembly efficiency is improved, and the labor intensity of operators is reduced; in addition, because the engine adopts the assembly of taking the medicine, consequently, it realizes snatching and placing the spare part among the assembly screwing up or the dismantlement process with the help of six degree of freedom manipulators, has improved the security of assembly, improves the quality and the performance of product.
In order to achieve the technical features, the invention is realized as follows: the utility model provides a standard test engine automatic assembly system, it includes a plurality of portable frock platforms that are used for placing and carrying each spare part of the standard test engine of treating the assembly, the intermediate position fixed mounting of portable frock platform is used for pressing from both sides the many free manipulators that get and place spare part, the side of many free manipulators and portable frock platform is provided with the transmission line body that is used for the clamping and fixes the spare part of treating the assembly, the back side of transmission line body is provided with the device of screwing up that is used for treating the spare part of assembling and screws up.
The multi-freedom manipulator comprises a manipulator base, a multi-freedom-degree manipulator is fixedly mounted at the top of the manipulator base, a manipulator claw is mounted at the tail end of the multi-freedom-degree manipulator, a clamping finger is mounted at the tail end of the manipulator claw, and an arc-shaped positioning block is arranged on the inner side wall of the clamping finger.
The tail end of the multi-degree-of-freedom mechanical arm is provided with an industrial camera mounting plate, and an industrial camera used for identifying parts is mounted on the industrial camera mounting plate.
The movable tooling platform comprises a platform bracket, a first tooling mounting plate, a second tooling mounting plate, a third tooling mounting plate, a fourth tooling mounting plate, a fifth tooling mounting plate and a sixth tooling mounting plate are fixedly mounted on the top of the platform bracket in parallel, a plurality of engine tools which are uniformly distributed and used for placing a standard test engine after the assembly is finished are arranged on the first tool mounting plate, a plurality of uniformly distributed spray pipe tools for placing spray pipes and spray pipe sealing cover assembly parts are arranged on the second tool mounting plate, a plurality of evenly distributed connecting sleeve tools for placing connecting sleeves are arranged on the third tool mounting plate, a plurality of evenly distributed body tools for placing the engine body are arranged on the fourth tool mounting plate, be provided with the packing ring frock that is used for placing the packing ring of a plurality of equipartitions on the fifth frock mounting panel, be provided with the pressure measurement seat frock that is used for placing the pressure measurement seat of a plurality of equipartitions on the sixth frock mounting panel.
Four corners of the bottom of the platform support are fixedly provided with supporting trundles, the bottom end of the head of the platform support is symmetrically provided with a platform limiting frame, and the top end of the tail of the platform support is fixedly provided with a handle through a handle mounting seat; and a sealing ring mounting step is machined at the edge of the top of the gasket tool.
The transmission line body comprises a transmission rack, slide rails are arranged on the top of the transmission rack in parallel, a tray is supported and arranged on the slide rails through slide blocks, two vertical hollow chucks are fixedly arranged on the tray, clamping jaws for clamping parts to be assembled are arranged in the vertical hollow chucks, and lifting support leg structures are fixedly arranged at four corners of the bottom of the transmission rack; and a linear driving mechanism for driving the tray to slide along the slide rail is arranged between the tray and the transmission rack.
The lifting support leg structure comprises support bottom plates fixed at four corners of the bottom of the transmission rack, lifting screw rods are mounted on the support bottom plates, the lifting screw rods and adjusting nuts form threaded transmission fit, and support foot plates are fixedly mounted at the bottom ends of the lifting screw rods;
the linear driving mechanism comprises a motor supporting plate fixed on the transmission rack, a motor is fixedly mounted on the motor supporting plate, an output shaft of the motor is connected with a lead screw through a coupler, two ends of the lead screw are respectively supported between a first lead screw support and a second lead screw support, the lead screw and a lead screw nut form lead screw transmission fit, and the lead screw nut is fixedly connected with the bottom end of the tray through a nut mounting seat;
the middle parts of two ends of the top of the transmission rack are fixedly provided with limiting baffle plates;
two ends of the slide rail are fixed with slide rail end limiting blocks.
Tightening device includes the vertical support body, and parallel fixed mounting has vertical slide rail on the vertical preceding lateral wall that supports the support body, install the slip frame through sliding fit on the vertical slide rail, fixed mounting has the machine mounting panel of screwing up on the lateral wall of slip frame, the top fixed mounting of the machine mounting panel of screwing up has the motor of screwing up, the output shaft of screwing up the motor passes through the adapter sleeve and links to each other with the head of screwing up, be connected with balanced heavy system and drive its lift power device along vertical slide rail lift on the slip frame.
The counterweight system comprises a traction rope connected to the top end of the sliding frame, the traction rope bypasses a fixed pulley block, the other end of the traction rope is provided with a counterweight block, and the fixed pulley block is fixed on the top of the vertical support frame body through a pulley support;
the lifting power device comprises vertical lead screw mounting seats fixed on the side wall of the front end of the vertical support frame body, vertical lead screws are mounted between the vertical lead screw mounting seats, nut sleeves are matched with the vertical lead screws in a transmission mode and fixedly connected with the sliding frame through connecting plates, and a top limiting seat used for limiting the sliding frame is fixed at the top of the vertical support frame body.
The method for assembling the engine by using the automatic assembling system of the standard test engine comprises the following steps:
step 1: pre-assembling a spray pipe and a spray pipe seat to be assembled, then placing the spray pipe and the spray pipe seat on a spray pipe tool of a movable tool platform, and correspondingly placing a connecting sleeve, an engine body, a gasket and a pressure measuring seat on the connecting sleeve tool, the body tool, the gasket tool and the pressure measuring seat tool respectively; two movable tool platforms are fully arranged;
step 2: manually pushing the movable tool platform full of parts to the isolation room, and positioning the movable tool platform by a platform limiting frame and then arranging the movable tool platform on two sides of the multi-freedom manipulator;
step 3: starting a multi-freedom manipulator, identifying and grabbing parts by an industrial camera and a mechanical gripper at the tail end of the multi-freedom manipulator according to an assembly process, accurately placing the parts to a hollow chuck of a transmission line body, and clamping and fixing the parts;
step 4: then, the other part to be screwed is sent to a screwing head of the screwing device through the multi-freedom manipulator; starting a screwing motor to drive a screwing head, and screwing and assembling a part to be screwed onto a part on the hollow chuck;
step 5: in the process of screwing one vertical hollow chuck, feeding the other vertical hollow chuck through a multi-freedom manipulator;
step 6: after the parts on one of the vertical hollow chucks are screwed and assembled, starting a linear driving mechanism of the transmission line body, moving the other vertical hollow chuck to be right below the screwing head, and performing the subsequent screwing and assembling process;
step 7: after the whole test engine is assembled, the whole test engine is automatically stored on an engine tooling of a movable tooling platform after being carried by a multi-freedom manipulator;
step 8: after all the test engines are assembled, the isolation room is opened, and the whole movable tool platform is pushed out again so as to facilitate the assembly of the next batch of parts.
The invention has the following beneficial effects:
1. the automatic assembly system with the structure can be used for connecting and screwing up threaded connecting pieces and threaded fastening pieces in the automatic production process of a standard test engine, can finish automatic screwing up of fixed torque under the cooperation of a transmission line body and multiple free manipulators, can record screwing up torque, can perform the screwing up process in an isolation space, can automatically screw up by manual work at real-time monitoring equipment outside the isolation space to complete the assembly process, and can perform manual intervention operation on dangerous conditions.
2. The grabbing and placing of parts in the assembling and screwing or disassembling process are realized through the multi-freedom manipulator. The multi-freedom manipulator may adopt a six-freedom robot.
3. Through the placement of foretell portable frock platform mainly used waiting to assemble spare part, and then the snatching of spare part is realized to the many free manipulators of convenient cooperation, places standard test engine finished product, spray tube, adapter sleeve, engine body, packing ring and pressure measurement seat from left to right in proper order.
4. The transmission line body is used for the automatic transposition to work tray, improves production efficiency. The pallet can complete the part preparation work with the help of the robot while the tightening machine works. The tray on the wire body can move left and right, is automatically positioned and is matched with the tightening machine to work.
5. The tightening device is mainly used for realizing an automatic tightening operation process, the tightening head is a tightening execution unit and provides tightening movement and torque control, an explosion-proof shell is designed to carry out explosion-proof treatment on the tightening head, the tightening output torque is 600Nm, the control torque precision is 5%, and the explosion-proof requirement of a system is met.
6. The equipment belongs to nonstandard explosion-proof equipment, and specific parameters can be customized according to process requirements. The equipment can meet the production requirement of automatic screwing and disassembling of the connecting thread of a certain 112 product. The production beat is preliminarily designed to be assembled for 5min and disassembled for 10 min. The operator can carry out single-piece or multi-piece production treatment under the control of a program according to production needs.
Drawings
The invention is further illustrated by the following figures and examples.
Figure 1 is a front view of the present invention.
Figure 2 top view of the invention.
Figure 3 is a front view of the multi-freedom robot of the present invention.
Figure 4 top view of the multi-free robot of the present invention.
Figure 5 is a three-dimensional view of the multi-free robot of the present invention.
FIG. 6 is a front view of the mobile tooling platform of the present invention.
Fig. 7 is a top view of the mobile tooling platform of the present invention.
FIG. 8 is a three-dimensional view of a mobile tooling platform of the present invention.
Fig. 9 is a front view of the mobile tooling platform of the present invention.
FIG. 10 is a top view of the mobile tooling platform of the present invention.
Fig. 11 is a left side view of the mobile tooling platform of the present invention.
FIG. 12 is a three-dimensional view of a mobile tooling platform of the present invention.
Fig. 13 view a-a of fig. 10 of the present invention.
FIG. 14 is a block diagram of a standard test engine to be assembled according to the present invention.
In the figure: the device comprises a multi-freedom manipulator 1, a movable tool platform 2, a transmission line body 3 and a tightening device 4;
the device comprises a manipulator base 101, a multi-degree-of-freedom manipulator 102, a manipulator claw 103, an industrial camera mounting plate 104, an industrial camera 105, a clamping finger 106 and an arc-shaped positioning block 107;
the device comprises a platform limiting frame 201, a platform support 202, a first tool mounting plate 203, an engine tool 204, a second tool mounting plate 205, a spray pipe tool 206, a third tool mounting plate 207, a connecting sleeve tool 208, a fourth tool mounting plate 209, a body tool 210, a fifth tool mounting plate 211, a gasket tool 212, a sixth tool mounting plate 213, a pressure measuring seat tool 214, a handle 215, a sealing ring mounting step 216, a handle mounting seat 217 and a supporting caster 218;
the device comprises a transmission rack 301, a limiting baffle plate 302, a second screw rod support 303, a screw rod 304, a tray 305, a vertical hollow chuck 306, a clamping jaw 307, a first screw rod support 308, a coupler 309, a motor 310, a sliding rail 311, a sliding rail end limiting block 312, a supporting foot plate 313, an adjusting nut 314, a supporting bottom plate 315, a lifting screw rod 316 and a motor supporting plate 317;
the device comprises a vertical support frame body 401, a balance weight 402, a sliding frame 403, a tightening machine mounting plate 404, a tightening head 405, a connecting sleeve 406, a tightening motor 407, a vertical sliding rail 408, a vertical screw rod 409, a traction rope 410, a vertical screw rod mounting seat 411, a pulley support 412, a fixed pulley block 413 and a top limiting seat 414.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Example 1:
referring to fig. 1-4, an automatic assembly system for a standard test engine comprises a plurality of movable tool platforms 2 used for placing and carrying parts of the standard test engine to be assembled, multiple free manipulators 1 used for clamping and placing the parts are fixedly installed in the middle positions of the movable tool platforms 2, transmission line bodies 3 used for clamping and fixing the parts to be assembled are arranged on the sides of the multiple free manipulators 1 and the movable tool platforms 2, and tightening devices 4 used for tightening the parts to be assembled are arranged on the rear side edges of the transmission line bodies 3. The automatic assembly system with the structure can be used for connecting and screwing up threaded connecting pieces and threaded fastening pieces in the automatic production process of a standard test engine, can finish automatic screwing up of fixed torque under the cooperation of a transmission line body 3 and a multi-freedom manipulator 1, records the screwing up torque, screws up in a separation space, automatically screws up by a manual real-time monitoring device outside the separation space to finish the assembly process, and can perform manual intervention operation on dangerous conditions. Thereby improving the intrinsic safety degree in the production process, reducing the labor intensity of operators and improving the quality and the performance of products.
The automatic tightening assembly system can be adopted in the invention because the parts of the standard test engine except the gasket are connected by screw thread tightening, and no fastener is assembled in the engine assembly process, so that the engine assembly process can be realized by only one automatic tightening system. Because the standard test engine is assembled with chemicals, and from the aspect of intrinsic safety, in order to realize full automation of the assembly process, a multi-freedom manipulator 1 is configured and used for grabbing and placing parts in the assembly screwing or disassembly process. Simultaneously in order to place spare part and finished product and cooperate many free manipulators 1 to realize screwing up or dismantling, need a portable frock platform 2 to realize that the robot fixes a position the spare part, just snatchs with the manipulator.
Further, the multi-freedom manipulator 1 comprises a manipulator base 101, a multi-freedom manipulator 102 is fixedly mounted at the top of the manipulator base 101, a manipulator claw 103 is mounted at the tail end of the multi-freedom manipulator 102, a clamping finger 106 is mounted at the tail end of the manipulator claw 103, and an arc-shaped positioning block 107 is arranged on the inner side wall of the clamping finger 106. The grabbing and placing of parts in the assembling, screwing or disassembling process are realized through the multi-freedom manipulator 1. The multi-freedom manipulator 1 may adopt a six-freedom robot.
Further, an industrial camera mounting plate 104 is mounted at the end of the multi-degree-of-freedom mechanical arm 102, and an industrial camera 105 for identifying parts is mounted on the industrial camera mounting plate 104. The industrial camera 105 is connected with a mechanical vision system, can identify products and confirm the placement direction of the products, and prevents equipment working errors or damage to parts caused by manual operation errors. When the assembly is tightened, the parts to be assembled are manually stacked according to requirements, the equipment is started outside the isolation room, the six-degree-of-freedom robot grabs and loads the parts according to the assembly sequence, and the mechanical arm stacks the products to a specified position after the assembly and tightening are completed. In the screwing process, the manipulator can also carry out part loading preparation work on another station on the tray.
In the product disassembly process, the manipulator grabs the product to the tray to be disassembled, collects the screwed workpiece, places the workpiece to the designated position of the workbench, and then handles the workpiece manually.
Further, the movable tooling platform 2 comprises a platform support 202, a first tooling mounting plate 203, a second tooling mounting plate 205, a third tooling mounting plate 207, a fourth tooling mounting plate 209, a fifth tooling mounting plate 211 and a sixth tooling mounting plate 213 are fixedly mounted on the top of the platform support 202 in parallel, a plurality of uniformly distributed engine tooling 204 for placing a standard test engine after assembly is completed are arranged on the first tooling mounting plate 203, a plurality of uniformly distributed nozzle tooling 206 for placing a nozzle and nozzle seal cover assembly are arranged on the second tooling mounting plate 205, a plurality of uniformly distributed connecting sleeve tooling 208 for placing a connecting sleeve are arranged on the third tooling mounting plate 207, a plurality of uniformly distributed body tooling 210 for placing an engine body are arranged on the fourth tooling mounting plate 209, and a plurality of uniformly distributed gasket tooling 212 for placing a gasket are arranged on the fifth tooling mounting plate 211, the sixth tool mounting plate 213 is provided with a plurality of uniformly distributed pressure measuring seat tools 214 for placing pressure measuring seats. Through the placing of foretell portable frock platform 2 mainly used waiting to assemble spare part, and then the snatching of spare part is realized to the many free manipulators 1 of convenient cooperation, places standard test engine finished product, spray tube, adapter sleeve, engine body, packing ring and pressure measurement seat from left to right in proper order. In order to simplify the assembly process, the nozzle and the nozzle cover are relatively easy to assemble, and the nozzle base are already assembled together. Because the packing ring is unfavorable for snatching of manipulator, consequently design a frock for placing the packing ring, put the packing ring on the frock in advance, the manipulator realizes the installation of packing ring through snatching the frock.
Further, four corners of the bottom of the platform support 202 are fixedly provided with supporting casters 218, the bottom end of the head of the platform support 202 is symmetrically provided with platform limiting frames 201, and the top end of the tail of the platform support 202 is fixedly provided with handles 215 through a handle mounting seat 217; the top edge of the gasket tool 212 is machined with a gasket mounting step 216. Through foretell structure can be convenient carry and the bulk movement to spare part.
Further, the transmission line body 3 includes a transmission frame 301, a slide rail 311 is installed at the top of the transmission frame 301 in parallel, a tray 305 is supported and installed on the slide rail 311 through a slider 320, two vertical hollow chucks 306 are fixedly installed on the tray 305, a clamping jaw 307 for clamping a component to be assembled is installed inside the vertical hollow chuck 306, and lifting support leg structures are fixedly installed at four corners of the bottom of the transmission frame 301; a linear driving mechanism for driving the tray 305 to slide along the slide rail 311 is installed between the tray and the transmission frame 301. The transmission line body is used for the automatic transposition to work tray, improves production efficiency. The pallet can complete the part preparation work with the help of the robot while the tightening machine works. The tray on the wire body can move left and right, is automatically positioned and is matched with the tightening machine to work. The conveying tray is provided with a replaceable clamp which is suitable for products or parts of different models, the tray can simultaneously bear two sets of products, and the bearing capacity is not less than 50 Kg.
Further, the lifting support leg structure comprises support bottom plates 315 fixed at four corners of the bottom of the transmission frame 301, lifting screws 316 are installed on the support bottom plates 315, the lifting screws 316 and the adjusting nuts 314 form thread transmission fit, and support foot plates 313 are fixedly installed at the bottom ends of the lifting screws 316. The height of the transmission line body 3 can be effectively adjusted through the lifting support leg structure.
Further, the linear driving mechanism comprises a motor supporting plate 317 fixed on the transmission rack 301, a motor 310 is fixedly installed on the motor supporting plate 317, an output shaft of the motor 310 is connected with a lead screw 304 through a coupler 309, two ends of the lead screw 304 are respectively supported between a first lead screw support 308 and a second lead screw support 303, the lead screw 304 and a lead screw nut 318 form lead screw transmission fit, and the lead screw nut 318 is fixedly connected with the bottom end of the tray 305 through a nut mounting seat 319; the linear driving mechanism can drive the tray to move transversely, in the working process, the motor 310 drives the screw rod 304, the screw rod 304 drives the screw rod nut 318, and the screw rod nut 318 drives the tray 305 to move along the sliding rail, so that the two assembly stations are switched.
Further, a limiting baffle plate 302 is fixedly arranged in the middle of the two ends of the top of the transmission rack 301; the purpose of limiting the tray is achieved through the limiting baffle plate 302, and the problem of excessive sliding is prevented.
Further, two ends of the slide rail 311 are fixed with slide rail end limiting blocks 312. The purpose of limiting the sliding block can be achieved through the sliding rail end limiting block 312.
Further, the tightening device 4 includes the vertical support frame body 401, and parallel fixed mounting has vertical slide rail 408 on the preceding lateral wall of vertical support frame body 401, install slip frame 403 through sliding fit on the vertical slide rail 408, fixed mounting has the machine mounting panel 404 of screwing up on the lateral wall of slip frame 403, the top fixed mounting of the machine mounting panel 404 of screwing up has the motor 407 of screwing up, the output shaft of screwing up motor 407 passes through the adapter sleeve 406 and links to each other with the head 405 of screwing up, be connected with the balanced weight system on the slip frame 403 and drive its lift power device along vertical slide rail 408 lift. The tightening device 4 is mainly used for realizing an automatic tightening operation process, the tightening head 405 is a tightening execution unit and provides tightening movement and torque control, an explosion-proof shell is designed to carry out explosion-proof treatment on the tightening movement and the torque, the output torque of tightening is 600Nm, the torque precision is controlled to be 5%, and the explosion-proof requirement of a system is met. The tightening head is a tightening tool for each part of a product and is designed according to tightening interfaces of each part. The tightening head flexible centering unit is used for adapting to the tiny position deviation of the tightening head and the part.
The tightening head 405 is provided with a projectile clamping unit which mainly comprises a projectile clamping device and a driving unit and is used for restricting the rotation of the lower section of the projectile, the projectile clamping device is a boosting connecting rod mechanism driven by a servo motor, the clamping force can overcome the friction torque, and a non-metal cushion layer is padded at the contact part of the clamping device and the projectile. The clamping device driving unit is used for transversely driving the clamping device to reach the clamping station when the clamping device is screwed down.
Further, the counterweight system comprises a traction rope 410 connected to the top end of the sliding frame 403, the traction rope 410 passes around a fixed pulley block 413, a counterweight 402 is installed at the other end of the traction rope 410, and the fixed pulley block 413 is fixed on the top of the vertical support frame 401 through a pulley support 412; the sliding frame 403 is ensured to slide stably along the vertical sliding rail 408 by the counterweight system. The driving power required in the lifting process is reduced.
Further, the lifting power device comprises vertical screw rod installation seats 411 fixed on the side wall of the front end of the vertical support frame body 401, vertical screw rods 409 are installed between the vertical screw rod installation seats 411, nut sleeves are matched on the vertical screw rods 409 through screw rod transmission and are fixedly connected with the sliding frame 403 through connecting plates, and a top limiting seat 414 used for limiting the sliding frame 403 is fixed at the top of the vertical support frame body 401. The lifting power device is mainly used for providing lifting power, in the working process, the vertical screw rod 409 is driven by the motor, the lifting action of the sliding frame 403 is driven by the threaded transmission fit between the vertical screw rod 409 and the nut sleeve, and finally the lifting of the tightening head 405 is completed.
And further, the system also comprises a control system, wherein the control system applies an advanced PLC integration technology and a safety technology and adopts a mature field bus technology to realize the information fusion of multiple special machines and multiple sensors according to the requirements of the production process.
The system adopts a PLC of German Siemens company S7-1200 series as a control core, and is placed in a field explosion-proof control box to realize the cooperative logic control of all units on the field.
The tightening machine adopts a domestic mature brand tightening system. In the production preparation process, a technician programs the tightening shaft through an industrial Ethernet TCP/IP protocol, transmits the program to the tightening machine controller and saves the program. In the production process, an operator sends an instruction through the button box, and the special machine PLC sends an execution instruction to the tightening machine control system through the Profibus bus according to the instruction content, so that the tightening shaft is screwed, unscrewed, reset and the like according to a preset program. The PLC system monitors the running state of the tightening machine in real time through a Profibus bus, and tightening data are displayed through an on-site explosion-proof touch screen; the states of the tightening result, such as qualification, disqualification, failure and the like, are fed back to an operator through a field indicator lamp or a touch screen. The special plane is provided with an emergency stop button, so that the emergency stop of the special plane can be quickly realized.
Furthermore, the system also comprises a video monitoring system, and in order to meet the requirement of safe operation of equipment production, the system is provided with an explosion-proof remote monitoring function, can carry out video monitoring on site, and can store monitoring pictures at the same time, wherein the storage time is not less than 90 days.
The system adopts the liquid crystal display as the display terminal of the hard disk video recorder, so that the operator can conveniently play back, record and save the video and the like.
Set up explosion-proof surveillance camera head 2 in the electrical detection antiknock room, adopt the high definition digital network camera who is no less than 200 ten thousand pixels, it satisfies 1080P video shooting demand, carries out the video shooting to satisfy the high definition video monitoring demand of measurement process.
The video storage unit adopts a network high-definition hard disk video recorder and is assisted with a 2X 2T video monitoring special hard disk, so that the storage time of a monitoring picture is not less than 90 days.
The line transmission part adopts an industrial Ethernet line; the front-end power supply adopts a RVV2-1.5 power supply cable.
Example 2:
the method for assembling the engine by using the automatic assembling system of the standard test engine comprises the following steps:
step 1: the method comprises the steps that a spray pipe and a spray pipe seat to be assembled are pre-assembled and then are placed on a spray pipe tool 206 of a movable tool platform 2, and a connecting sleeve, an engine body, a gasket and a pressure measuring seat are correspondingly placed on a connecting sleeve tool 208, a body tool 210, a gasket tool 212 and a pressure measuring seat tool 214 respectively; two movable tool platforms 2 are fully placed;
step 2: manually pushing the movable tooling platform 2 full of parts to push the movable tooling platform to an isolation room, and positioning the movable tooling platform 2 by the platform limiting frame 201 and then arranging the movable tooling platform on two sides of the multi-free manipulator 1;
step 3: starting the multi-freedom manipulator 1, identifying and grabbing the parts by the multi-freedom manipulator 1 through an industrial camera 105 and a mechanical gripper 103 at the tail end of the multi-freedom manipulator according to an assembly process, accurately placing the parts to a hollow chuck 306 of the transmission line body 3, and clamping and fixing the parts;
step 4: then the other part to be screwed is sent to the screwing head 405 of the screwing device 4 by the multi-free manipulator 1; starting a tightening motor 407 to drive a tightening head 405, thereby tightening and assembling a part to be tightened to the part on the hollow chuck 306;
step 5: in the process of screwing one vertical hollow chuck 306, the other vertical hollow chuck 306 is loaded by the multi-freedom manipulator 1;
step 6: after the parts on one of the vertical hollow chucks 306 are screwed and assembled, starting the linear driving mechanism of the transmission line body 3, moving the other vertical hollow chuck 306 to be right below the screwing head 405, and performing the subsequent screwing and assembling process;
step 7: after the whole test engine is assembled, the whole test engine is automatically stored on an engine tool 204 of a movable tool platform 2 after being carried by a multi-freedom manipulator 1;
step 8: after all the test engines are assembled, the isolation room is opened, and the whole movable tool platform 2 is pushed out again so as to facilitate the assembly of the next batch of parts.
Claims (10)
1. The utility model provides a standard test engine automatic assembly system which characterized in that: the assembling machine comprises a plurality of movable tool platforms (2) used for placing and carrying parts of standard test engines to be assembled, wherein a multi-freedom mechanical arm (1) used for clamping and placing the parts is fixedly installed at the middle position of each movable tool platform (2), a transmission line body (3) used for clamping and fixing the parts to be assembled is arranged on the side edges of the multi-freedom mechanical arm (1) and the movable tool platform (2), and a screwing device (4) used for screwing the parts to be assembled is arranged on the rear side edge of the transmission line body (3).
2. The automatic assembly system for a standard test engine of claim 1, wherein: the multi-freedom manipulator (1) comprises a manipulator base (101), a multi-freedom-degree manipulator (102) is fixedly mounted at the top of the manipulator base (101), a manipulator claw (103) is mounted at the tail end of the multi-freedom-degree manipulator (102), a clamping finger (106) is mounted at the tail end of the manipulator claw (103), and an arc-shaped positioning block (107) is arranged on the inner side wall of the clamping finger (106).
3. The automatic assembly system for a standard test engine of claim 2, wherein: an industrial camera mounting plate (104) is mounted at the tail end of the multi-degree-of-freedom mechanical arm (102), and an industrial camera (105) used for identifying parts is mounted on the industrial camera mounting plate (104).
4. The automatic assembly system for a standard test engine of claim 1, wherein: the movable tool platform (2) comprises a platform support (202), a first tool mounting plate (203), a second tool mounting plate (205), a third tool mounting plate (207), a fourth tool mounting plate (209), a fifth tool mounting plate (211) and a sixth tool mounting plate (213) are fixedly mounted at the top of the platform support (202) in parallel, a plurality of uniformly distributed engine tools (204) used for placing a standard test engine after assembly is completed are arranged on the first tool mounting plate (203), a plurality of uniformly distributed nozzle tools (206) used for placing a nozzle and a nozzle seal cover assembly are arranged on the second tool mounting plate (205), a plurality of uniformly distributed connecting sleeve tools (208) used for placing a connecting sleeve are arranged on the third tool mounting plate (207), a plurality of uniformly distributed body tools (210) used for placing an engine body are arranged on the fourth tool mounting plate (209), be provided with packing ring frock (212) that are used for placing the packing ring of a plurality of equipartitions on fifth frock mounting panel (211), be provided with pressure measurement seat frock (214) that are used for placing the pressure measurement seat of a plurality of equipartitions on sixth frock mounting panel (213).
5. The automatic assembly system for a standard test engine of claim 4, wherein: four corners of the bottom of the platform support (202) are fixedly provided with supporting caster wheels (218), the bottom end of the head of the platform support (202) is symmetrically provided with platform limiting frames (201), and the top end of the tail of the platform support (202) is fixedly provided with a handle (215) through a handle mounting seat (217); and a sealing ring mounting step (216) is machined at the top edge of the gasket tool (212).
6. The automatic assembly system for a standard test engine of claim 1, wherein: the transmission line body (3) comprises a transmission rack (301), a sliding rail (311) is installed at the top of the transmission rack (301) in parallel, a tray (305) is installed on the sliding rail (311) in a supporting mode through a sliding block (320), two vertical hollow chucks (306) are fixedly installed on the tray (305), clamping jaws (307) used for clamping parts to be assembled are installed inside the vertical hollow chucks (306), and lifting support leg structures are fixedly installed at four corners of the bottom of the transmission rack (301); a linear driving mechanism for driving the tray (305) to slide along the slide rail (311) is arranged between the tray (305) and the transmission rack (301).
7. The automatic assembly system for a standard test engine of claim 6, wherein: the lifting support leg structure comprises support bottom plates (315) fixed at four corners of the bottom of the transmission rack (301), lifting screw rods (316) are mounted on the support bottom plates (315), the lifting screw rods (316) and adjusting nuts (314) form threaded transmission fit, and support foot plates (313) are fixedly mounted at the bottom ends of the lifting screw rods (316);
the linear driving mechanism comprises a motor supporting plate (317) fixed on the transmission rack (301), a motor (310) is fixedly mounted on the motor supporting plate (317), an output shaft of the motor (310) is connected with a screw rod (304) through a coupler (309), two ends of the screw rod (304) are respectively supported between a first screw rod support (308) and a second screw rod support (303), the screw rod (304) and a screw rod nut (318) form screw rod transmission fit, and the screw rod nut (318) is fixedly connected with the bottom end of a tray (305) through a nut mounting seat (319);
the middle parts of two ends of the top of the transmission rack (301) are fixedly provided with limiting baffle plates (302);
two ends of the sliding rail (311) are fixed with sliding rail end limiting blocks (312).
8. The automatic assembly system for a standard test engine of claim 1, wherein: tightening device (4) are including vertical support body (401), and parallel fixed mounting has vertical slide rail (408) on the preceding lateral wall of vertical support body (401), install slip frame (403) through sliding fit on vertical slide rail (408), fixed mounting has on the lateral wall of slip frame (403) and screws up quick-witted mounting panel (404), the top fixed mounting who screws up quick-witted mounting panel (404) has and screws up motor (407), the output shaft of screwing up motor (407) passes through adapter sleeve (406) and links to each other with tightening head (405), be connected with balanced heavy system and drive its lift power device who goes up and down along vertical slide rail (408) on slip frame (403).
9. The automatic assembly system for a standard test engine of claim 8, wherein: the counterweight system comprises a traction rope (410) connected to the top end of a sliding frame (403), the traction rope (410) bypasses a fixed pulley block (413), a counterweight block (402) is installed at the other tail end of the traction rope, and the fixed pulley block (413) is fixed to the top of the vertical support frame body (401) through a pulley support (412);
the lifting power device comprises a vertical screw rod mounting seat (411) fixed on the side wall of the front end of the vertical support frame body (401), a vertical screw rod (409) is installed between the vertical screw rod mounting seats (411), a nut sleeve is matched with the vertical screw rod (409) through screw rod transmission, the nut sleeve is fixedly connected with the sliding frame (403) through a connecting plate, and a top limiting seat (414) used for limiting the sliding frame (403) is fixed at the top of the vertical support frame body (401).
10. A method of assembling an engine using the automatic assembly system for a standard test engine of any one of claims 1 to 9, comprising the steps of:
step 1: pre-assembling a spray pipe and a spray pipe seat to be assembled, then placing the spray pipe and the spray pipe seat on a spray pipe tool (206) of a movable tool platform (2), and correspondingly placing a connecting sleeve, an engine body, a gasket and a pressure measuring seat on a connecting sleeve tool (208), a body tool (210), a gasket tool (212) and a pressure measuring seat tool (214) respectively; two movable tool platforms (2) are fully arranged;
step 2: manually pushing a movable tooling platform (2) full of parts to push the movable tooling platform to an isolation room, and positioning the movable tooling platform by a platform limiting frame (201) and then arranging the movable tooling platform on two sides of a multi-freedom manipulator (1);
step 3: starting the multi-freedom manipulator (1), identifying and grabbing parts by the multi-freedom manipulator (1) through an industrial camera (105) and a mechanical gripper (103) at the tail end of the multi-freedom manipulator according to an assembly process, accurately placing the parts to a hollow chuck (306) of a transmission line body (3), and clamping and fixing the parts;
step 4: then, the other part to be screwed is sent to a screwing head (405) of the screwing device (4) through the multi-free manipulator (1); starting a tightening motor (407), driving a tightening head (405), and further tightening and assembling a part to be tightened to the part on the hollow chuck (306);
step 5: in the process of screwing one vertical hollow chuck (306), the other vertical hollow chuck (306) is fed through the multi-freedom manipulator (1);
step 6: after the parts on one of the vertical hollow chucks (306) are screwed and assembled, starting a linear driving mechanism of the transmission line body (3), moving the other vertical hollow chuck (306) to be right below the screwing head (405), and performing the subsequent screwing and assembling process;
step 7: after the whole test engine is assembled, the whole test engine is automatically stored on an engine tool (204) of a movable tool platform (2) after being carried by a multi-freedom manipulator (1);
step 8: after all the test engines are assembled, the isolation room is opened, and the whole movable tool platform (2) is pushed out again so as to facilitate the assembly of the next batch of parts.
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| CN201911244535.2A CN111015207B (en) | 2019-12-06 | 2019-12-06 | Automatic assembly system and assembly method for standard test engine |
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| CN201911244535.2A CN111015207B (en) | 2019-12-06 | 2019-12-06 | Automatic assembly system and assembly method for standard test engine |
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| CN113829030A (en) * | 2021-07-08 | 2021-12-24 | 东风马勒热系统有限公司 | Device for automatically screwing driving disc |
| CN114734240A (en) * | 2022-06-15 | 2022-07-12 | 天津航天机电设备研究所 | Automatic equipment for assembling and screwing separation nut assembly |
| CN114872365A (en) * | 2022-05-30 | 2022-08-09 | 中国兵器装备集团自动化研究所有限公司 | Powder forming production line and control method |
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