CN111761345A - Intelligent robot air spring double-shaft automatic tightening system and method - Google Patents
Intelligent robot air spring double-shaft automatic tightening system and method Download PDFInfo
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Abstract
The invention belongs to the technical field of rail vehicle repair, and particularly discloses an intelligent robot air spring double-shaft automatic tightening system and method. The system comprises a tool assembly, a support module, a six-axis robot module, a double-axis tightening module and a main control machine, wherein the six-axis robot module and the double-axis tightening module are integrated on the support module, the main control machine is used for sending a tightening instruction to the tightening shaft controller after the tightening shaft and the torque collector are aligned with bolts on an air spring workpiece cover plate, and adjusting the rotating angles of the tightening shaft and the torque collector according to the tightening operation condition of the tightening shaft and the torque collector and tightening processing information. The method comprises the following steps: the method comprises the steps of workpiece installation, coordinate point information and tightening processing information identification, motion path information and rotation angle information generation, vertical alignment of a tightening shaft and a bolt, tightening processing, torque measurement and torque acquisition. The invention can automatically address and position a plurality of bolts of the upper cover plate of the air spring workpiece, and realizes automatic screwing operation.
Description
Technical Field
The invention belongs to the technical field of rail vehicle repair, and particularly relates to an intelligent robot air spring double-shaft automatic tightening system and method.
Background
For the harmonious motor train unit 380B/BL air spring assembly, as the main structure adopts the structural form of air bag inflation, when the top air bag cover plate is installed, the air bag is in an elastic state, and the whole air spring is in a floating structure. Therefore, how to ensure the structural stability of the air spring top cover plate in the installation process of the air spring top cover plate and how to ensure the uniform compression of the bolts under the conditions that the whole air spring is of a floating structure, the quantity of the bolts is large and the bolt tightening torque is large, the condition that the bolts are inclined and stressed is prevented from occurring, and the air spring top cover plate becomes the difficult point and the greatest importance in the installation of air spring parts.
At present, due to the lack of professional tightening system equipment and tools, the air spring assembly station of a bogie workshop for the advanced repair of a bullet train section has the following operation mode: (1) the mode of ordinary mechanical wrench and manual auxiliary positioning and clamping is adopted. The realization mode is as follows: an operation group in scene has three people, and one person is responsible for clean installation of air spring spare part and bolt pretension, and the second person is responsible for screwing up the bolt with manual spanner, because spring gasbag is elasticity and flexible state, and the whole floating structure that is of air spring when apron installation, and the third person is responsible for the second person and when screwing up the bolt with the spanner, holds spring cover plate with the arm to reduce its volume of rocking. Because the number of the fixing bolts of the air spring cover plate is large, the field operation personnel need to continuously move and change positions, the operation efficiency is low, and the labor intensity is high; the common mechanical wrench is used, so that the experience dependence on operators is large, the tightening precision of the bolt is low, torque data cannot be collected, real data cannot be reserved, and the follow-up tracing is difficult. (2) And a manual wireless servo torque wrench and manual auxiliary positioning and clamping mode is adopted. Compared with the method (1), the bolt tightening precision is improved by adopting the manual servo wrench, and the torque value of the bolt is collected and stored by the wrench when the bolt is tightened for data tracing of subsequent stations. However, due to the fact that single-shaft manual operation is adopted, the defect that the air spring is in a floating state is not overcome, when the bolt is tightened, a cover plate which is used for holding or assisting the air spring by one person with arms is still needed, the bolt is tightened by the other person with hands and the spanner with hand strength, labor intensity is high, and operation experience of workers is depended. (3) At present, the epidemic situation of the new coronary pneumonia does not have disinfection measures on the operation site.
Based on the above defects and shortcomings, there is a need in the art to further improve and design the existing air spring assembly tightening equipment and method, and construct intelligent and safe air spring tightening equipment and method, so as to improve the working efficiency and ensure the health and safety of operators.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides an intelligent robot air spring double-shaft automatic tightening system and method, which can automatically finish addressing and positioning of a plurality of bolts of an upper cover plate of an air spring workpiece, realize automatic tightening operation, save manual operation time and improve operation efficiency.
In order to achieve the above object, according to one aspect of the present invention, an intelligent robot air spring double-shaft automatic tightening system is provided, which comprises a tooling assembly, a support module, a six-shaft robot module and a double-shaft tightening module integrated on the support module, and a master controller,
the tool assembly is used for tooling an air spring workpiece;
the double-shaft tightening module is arranged at the tail end of the six-shaft cooperative robot and comprises an information identification device, a tightening shaft, a torque collector and a tightening shaft controller, wherein the information identification device is used for identifying coordinate point information and tightening processing information of an air spring workpiece and transmitting the coordinate point information and the processing information to a main control computer so as to generate motion path information of the six-shaft robot module, the tightening shaft controller controls the tightening shaft and the torque collector to tighten bolts on an air spring workpiece cover plate according to a tightening instruction sent by the main control computer and carries out time delay maintenance on bolt torque, and meanwhile, the tightening shaft and the torque collector collect bolt torque values and send the torque values to the main control computer;
the six-axis robot module comprises a robot controller and a six-axis cooperative robot, the robot controller is in communication connection with the main control computer and is used for converting motion path information sent by the main control computer into servo signals of a driving motor of the six-axis cooperative robot, and the six-axis cooperative robot drives the tightening shaft and the torque collector to align with a pair of bolts on an air spring workpiece cover plate according to the servo signals of the driving motor;
the main control machine is used for sending a tightening instruction to the tightening shaft controller after the tightening shaft and the torque collector are aligned with the bolts on the air spring workpiece cover plate, and adjusting the rotation angles of the tightening shaft and the torque collector according to the tightening operation conditions of the tightening shaft and the torque collector and tightening processing information.
The tightening processing information comprises relative pose information of a tightening shaft, a torque collector and an air spring workpiece, the position of a bolt on a cover plate of the air spring workpiece in a base coordinate system of the six-axis cooperative robot, and angle information of bolts on two adjacent pairs of cover plates.
Preferably, the supporting module includes a main supporting bracket and a cooperative robot bracket, the supporting module is fixedly connected to the foundation, and the cooperative robot bracket is fixedly disposed on the main supporting bracket and is used for supporting the six-axis cooperative robot.
Preferably, the information recognition device is arranged on the tightening shaft and the torque collector, and comprises a visual recognition camera and a laser ranging sensor, wherein the visual recognition camera is used for recognizing coordinate point information of the air spring workpiece and image information of the bolt on the cover plate of the air spring workpiece, and the laser ranging sensor is used for measuring distance information between the tightening shaft and the torque collector and the bolt on the cover plate of the air spring workpiece.
Preferably, the tightening shaft and the torque collector comprise a tightening shaft and a torque data collector arranged on the tightening shaft, the tightening shaft comprises a rotating shaft, a double-shaft tightening bracket and two tightening assemblies, one end of the rotating shaft is rotatably connected with the tail end of the six-shaft cooperative robot through a flange, the other end of the rotating shaft is fixedly connected with the double-shaft tightening bracket, and the two tightening assemblies are fixedly arranged at two ends of the double-shaft tightening bracket.
Furthermore, a sliding rail is arranged on the double-shaft tightening support, the tightening assemblies are connected with the sliding rail in a sliding mode through the sliding blocks, in this way, the distance between the two tightening assemblies can be adjusted, and the applicability of the system is improved.
As a further preferred, the tightening assembly comprises a tightening motor, an encoder and a tightening tool which are connected in sequence. In addition, a speed regulator is arranged between the tightening motor and the tightening cutter.
As a further preferred option, the main control computer includes a control cabinet, the control cabinet is disposed beside the support module, the main control computer further includes a system display screen disposed on the support module, a data acquisition module, a data processing module and a communication module, wherein the data processing module is integrated with an image processor.
Preferably, the ultraviolet ray disinfection device further comprises an ultraviolet ray disinfection module and an alarm module, wherein the ultraviolet ray disinfection module and the alarm module are both arranged at the top of the support module, and the alarm module is used for sending an alarm instruction within a specified time before the ultraviolet ray disinfection module works;
the robot air-spring double-shaft automatic tightening system further comprises an intelligent lock arranged on a workshop door, and the intelligent lock is in communication connection with the main control computer and used for locking at a specified time point after the alarm module sends an alarm instruction.
Further preferably, the optical grating sensor is fixedly arranged on the vertical wall of the support module.
According to another aspect of the invention, an intelligent robot air spring double-shaft automatic tightening method is provided, and comprises the following steps:
s1, zeroing the positions and data of the six-axis robot module;
s2, hoisting the air spring workpiece to the tool assembly;
the S3 information recognition device recognizes the air spring workpiece and the six-axis robot module, and sends the recognized coordinate point information of the air spring workpiece and the screwing processing information to the main control computer;
s4, the main control computer processes according to the coordinate point information of the air spring workpiece and the tightening processing information to generate the motion path information of the six-axis robot module and the rotation angle information of the tightening shaft and the torque collector, and sends the information to the robot controller;
s5, the robot controller converts the motion path information and the rotation angle information into a servo signal of a six-axis cooperative robot driving motor;
s6, the six-axis cooperative robot driving motor drives the six-axis cooperative robot to act according to the servo signals, so that the tightening shaft and the torque collector are vertically aligned with a pair of bolts on a cover plate of the air spring workpiece;
s7, the main control machine sends a tightening instruction to a tightening shaft controller, the tightening shaft controller controls the tightening shaft and the torque collector to tighten the bolts on the air spring workpiece cover plate according to the tightening instruction, the bolt torque is kept in a delayed mode, and meanwhile the tightening shaft and the torque collector collect bolt torque values and send the torque values to the main control machine;
s8, after the tightening shaft and the torque collector finish the tightening work of a pair of bolts, the six-shaft cooperative robot ascends by a specified distance, and then drives the tightening shaft and the torque collector to rotate to be aligned with the next pair of bolts and then descends by the specified distance after the tightening shaft and the torque collector are lifted;
s9, repeating the steps S7 to S8 until the tightening work of all the bolts on the air spring workpiece cover plate is completed, and returning the six-axis cooperative robot and driving the tightening shaft and the torque collector to return.
Further preferably, before executing step S1, the method further includes the following steps:
s01, starting an alarm module to prompt the staff to leave the workshop;
s02, starting the ultraviolet disinfection module, conducting ultraviolet disinfection on the workshop, and locking the workshop door;
s03, completing ultraviolet disinfection, and opening a workshop door;
step S2 further includes the steps of:
after the air spring workpiece is hoisted, the main control computer controls the grating sensor to detect the departure condition of the personnel in the workshop, if the personnel leave, the step S3 is executed, otherwise, the alarm module prompts to give an alarm until the personnel leave.
Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. according to the invention, by adopting a vision and image recognition processing technology, a laser positioning sensor technology and a six-degree-of-freedom cooperative robot control technology, addressing and positioning of a plurality of bolts of the upper cover plate of the air spring workpiece and automatic screwing operation are automatically completed, so that the manual operation time is saved, and the operation efficiency is improved.
2. The invention adopts the fixed-point braking technology of cooperative operation of the six-axis cooperative robot and the double-axis tightening shaft, and avoids the problems of large operation intensity and inconvenient operation caused by the fact that a workpiece is kept stable in a manual holding mode when a cover plate is installed and the air spring integrally has a floating structure under the condition that an air spring air bag is in an elastic and flexible state
3. By adopting a double-shaft electric tightening technology and a torque sensor data acquisition technology, compared with manual wrench tightening operation, the torque sensor tightening device improves the torque operation precision, shortens the operation time and improves the operation efficiency;
4. the invention combines the grating sensor technology and the six-freedom-degree robot intelligent control technology, thereby avoiding the problem of collision injury to a person under the condition that the person approaches when the robot works.
5. The ultraviolet disinfection lamp is combined with the system operation beat and the operation time, and the work stations on the operation site are disinfected at a certain time before the operation is started every day and after the operation is finished, so that the working environment of workers is purified, and the physical health of the workers is guaranteed in the current new coronavirus epidemic situation mode.
In conclusion, according to the characteristics of the air spring workpiece, the bolt tightening system on the cover plate is correspondingly designed and arranged, the information identification device identifies the poses of the workpiece and the tightening shaft, and therefore the motion path of the six-axis cooperative robot is generated, the motion path comprises the aligning strength of the tightening shaft and the bolt and the path of the six-axis cooperative robot for driving the tightening shaft to rotate to the next processing station, in this way, the addressing and the positioning of the plurality of bolts on the cover plate of the air spring workpiece are automatically completed, the automatic tightening operation is realized, the manual operation time is saved, and the operation efficiency is improved.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent robot air spring double-shaft automatic tightening system according to an embodiment of the invention;
FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;
fig. 3 is a schematic control structure diagram of an intelligent robot air spring double-shaft automatic tightening system according to an embodiment of the present invention.
In all the figures, the same reference numerals denote the same features, in particular: 1-control cabinet, 2-cooperative robot bracket, 3-ultraviolet disinfection lamp, 4-six-axis cooperative robot, 5-tightening shaft controller, 6-robot controller, 7-alarm lamp, 8-system display screen, 9-grating sensor, 10-tightening shaft and data collector, 11-visual identification camera and laser ranging sensor, 12-air spring workpiece, 13-double-tightening shaft bracket, 14-tool assembly, 15-aluminum alloy screen
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, 2 and 3, an intelligent robot air spring double-shaft automatic tightening system provided by an embodiment of the invention comprises a tool assembly, a support module, a six-shaft robot module and a double-shaft tightening module integrated on the support module, and a main control machine.
The tool assembly is a frame structure formed by welding metal, the bottom of the frame structure is fixedly connected with the ground through an expansion bolt, a fixed mounting hole is formed in the top of the frame structure, and the fixed mounting hole is fixedly connected with a workpiece to be processed through a bolt. In the present invention, the height of the frame structure is set in cooperation with the six-axis cooperative robot 4 in such a manner that the workpiece to be processed is located within the range of motion of the six-axis cooperative robot 4.
The support module comprises a main support frame 15, a co-operating robot frame 2 and an aluminium alloy screen covering the main support frame. The main support frame 15 is a U-shaped frame structure, which can be formed by welding longitudinal and transverse metal frames, the bottom of the main support frame is fixedly connected with the ground through expansion bolts, and the inner side of the U-shaped frame structure is used for collecting other related components related to the cost system.
The main control machine is used for sending a tightening instruction to the tightening shaft controller 5 after the tightening shaft and the torque collector 10 are aligned with the bolts on the cover plate of the air spring workpiece 12, and adjusting the rotation angle of the tightening shaft and the torque collector 10 according to the tightening operation condition of the tightening shaft and the torque collector 10 and the tightening processing information. The intelligent control system comprises a control cabinet 1, a system display screen 8, a data acquisition module, a data processing module, a data storage module, a communication module, an image processor, an alarm and voice prompt module and a personnel identification module. The communication module is used for performing communication connection with each related component in the system, and the communication connection mode can be performed through wireless network connection or network connection, network card connection and the like. The data acquisition module is connected with the tightening shaft controller 5, the robot controller 6, the information recognition device and the like through the communication module, and is used for acquiring processing operation data and sending the processing operation data to the data storage module for storage. The data processing module is used for analyzing and processing the processing operation data.
The double-shaft tightening module is arranged at the tail end of the six-shaft cooperative robot 4 and comprises an information identification device, a tightening shaft and torque collector 10 and a tightening shaft controller 5. The information identification module is used for shooting pictures of the air spring workpiece 12, the tightening shaft and the torque collector 10 when the system performs machining operation, measuring the distance between the air spring workpiece 12 and the tightening shaft and the torque collector 10, sending the pictures and the distance to the image processing module, analyzing and processing the pictures by the image processing module, determining coordinate point information of the air spring workpiece 12, extracting coordinate points of bolts on a cover plate of the air spring workpiece 12 in a base coordinate system of the six-axis cooperative robot 4, and determining the rotating angle of the tightening shaft and the torque collector 10 in the tightening machining process according to the coordinate point information of the air spring workpiece 12 and the coordinate points of the bolts on the cover plate of the air spring workpiece 12 in the base coordinate system of the six-axis cooperative robot 4. The method comprises the following specific steps: firstly, determining the center of a cover plate of an air spring workpiece 12, then connecting two opposite bolts on the cover plate of the air spring workpiece 12 by taking the center as a central point to form a plurality of line segments, and measuring an included angle between the adjacent line segments, wherein the included angle is a rotating angle in the screwing processing process. The number of fixed-point braking times of the six-axis cooperative robot in the screwing processing process can be set by determining the number of bolts on the cover plate of the air spring workpiece 12, and if the number of bolts on the cover plate of the air spring workpiece 12 is 2N, the number of fixed-point braking times is N-1. Further, to achieve precise alignment of the tightening shaft and torque harvester 10 with the bolts on the cover plates of a pair of air spring workpieces 12, by measuring the relative pose between the air spring work piece 12 and the tightening shaft and torque harvester 10, then the data processing module generates the alignment motion path information of the six-axis cooperative robot according to the relative pose, then the robot controller 5 converts the information of the alignment motion path into a servo signal of a driving motor of the six-axis cooperative robot 4, the six-axis cooperative robot 4 then drives the tightening shaft and torque collector 10 to vertically align with the bolts on the cover plate of the air spring workpiece 12 according to the servo signals, then, the information recognition device continues to measure the distance between the air spring work piece 12 and the tightening shaft and torque collector 10, this distance is the distance the tightening shaft and torque collector 10 move downward during the tightening process. After the tightening of one pair of bolts is completed, the tightening shaft and the torque collector 10 are moved up to the designated position, and then rotated by the rotation angle in the tightening process to perform the tightening work of the next pair of bolts.
More specifically, an information recognition device is provided on the tightening shaft and torque collector 10, and the information recognition device includes a visual recognition camera for recognizing coordinate point information of the air spring workpiece 12 and image information of the bolt on the cover plate of the air spring workpiece 12, and a laser ranging sensor for measuring distance information of the tightening shaft and torque collector 10 and the bolt on the cover plate of the air spring workpiece 12. Tightening shaft and torque acquisition device 10 including tightening the axle and locating tightening epaxial torque data acquisition ware, tightening the axle including rotation axis, biax tightening support 13 and two tightening assembly, rotation axis one end through the flange with six axis cooperation robot 4's terminal rotatable coupling, the other end with biax tightening support 13 fixed connection, two tightening assembly is fixed to be set up biax tightening support 13 both ends. The tightening component comprises a tightening motor, an encoder and a tightening cutter which are sequentially connected. Wherein, the encoder is used for the record to screw up the number of turns of motor, screws up the cutter and is used for screwing up the bolt. In addition, a speed regulator is arranged between the tightening motor and the tightening cutter. In the invention, the double-shaft tightening bracket 13 is provided with a sliding rail, and the tightening components are connected with the sliding rail in a sliding way through the sliding block, so that the distance between the two tightening components can be adjusted, and the applicability of the system of the invention is improved.
In the tightening process, the tightening shaft controller 5 controls the tightening shaft and the torque collector 10 to tighten the bolts on the cover plate of the air spring workpiece 12 according to the tightening instruction sent by the main control machine, and the bolt torque is maintained in a delayed manner, and meanwhile, the tightening shaft and the torque collector 10 collect the bolt torque value and send the torque value to the main control machine for data storage and display.
As a preferable scheme of the invention, the system further comprises an ultraviolet ray disinfection module and an alarm module, wherein the ultraviolet ray disinfection module and the alarm module are both arranged at the top of the support module, and the alarm module is used for sending an alarm instruction within a specified time before the ultraviolet ray disinfection module works; the robot air-spring double-shaft automatic tightening system further comprises an intelligent lock arranged on a workshop door, and the intelligent lock is in communication connection with the main control computer and used for locking at a specified time point after the alarm module sends an alarm instruction. Wherein, the ultraviolet ray disinfection module can be an ultraviolet ray disinfection lamp, and the alarm module includes alarm lamp 7.
As a preferable scheme of the invention, the system further comprises a grating sensor 9 fixedly arranged on the vertical wall of the support module.
The following is a specific embodiment related to the present invention, the control cabinet 1 is communicated with a power supply in a workshop through a ground embedded cable, supplies power to each component through a power line, and performs data communication with each functional component through a signal line. The central control center of the system main control computer is internally provided with a system host, a server, a data acquisition module, a data analysis module, a data processing module and the like to acquire and process data of all equipment and parts in real time and control the operation action and the beat of the whole system. The cooperative robot support 2 is connected with the ground through expansion bolts, and the top of the cooperative robot support is connected with a base flange of the six-axis cooperative robot 4 through fastening screws. The whole steel structure is welded to form the steel structure, and the bottom of the steel structure is fixed to the ground through a connecting piece and an expansion bolt after being leveled through a foundation bolt. The ultraviolet disinfection lamp is fixed with the aluminum alloy screen through a fastening screw and is connected with the control cabinet through a power line and a signal line. The ultraviolet disinfection module adopts an ultraviolet disinfection lamp 3, the sterilization efficiency of the ultraviolet disinfection lamp 3 reaches 99.99%, no ozone is generated in the disinfection process, no peculiar smell is generated at the station, the disinfection range is adjustable between 30 and 120 square meters, the ultraviolet disinfection module is combined with a main control computer, the ultraviolet disinfection module is automatically opened after being set by the program of the main control computer, the air spring operation station is automatically disinfected one hour before being started and one hour after being finished, and is associated with an automatic door lock of an operation workshop, so that the safety of operators is ensured. The six-axis cooperative robot 4 is fixedly connected with the main support bracket 15 through a fastening screw, is fixedly connected with the double-screwing-shaft bracket through a special screw and a positioning pin, and is connected with the robot controller 6 through a power line and a signal line. The six-axis cooperative robot 4 provided by the invention has the performance and advantages of all six-axis robots in the market, is developed for the second time aiming at the air spring assembly station, works with a double-axis tightening shaft in a cooperative mode, and has a fixed-point braking function, namely, the six-axis cooperative robot 4 performs fixed-point braking at a specified position under the control action of the robot controller 6. The tightening shaft controller 5 is connected with the aluminum alloy screen through a fastening screw, connected with the tightening shaft and the torque collector 10 through a special data line, and connected with the control cabinet through a power line and a network cable. The robot controller 6 is fixedly connected with the aluminum alloy screen through fastening screws and a main support bracket, is connected with the control cabinet 1 through a power line and WIFI for communication, is connected with the six-axis cooperative robot 4 through a power line and a data line, is a debugging and command receiving and transmitting control tool for the six-axis cooperative robot 4, and is responsible for the functions of field debugging, coordinate point positioning, alignment, data operation, checking and the like of the six-axis cooperative robot 4. The alarm lamp 7 is fixed with the aluminum alloy screen through a fastening screw and is connected with the control cabinet 1 through a power line and a signal line. The alarm lamp 7 is in communication connection with the main control computer and is used for giving alarm indication and fault prompt to the ultraviolet disinfection lamp, the six-axis cooperative robot and the double-axis tightening shaft in the working process. The system display screen 8 is fixed with the aluminum alloy screen through a fastening screw and a bracket and is connected with the main control machine through a power line and a data line. The software of the main control computer is set, the dynamic state collected and transmitted and received by the main control computer is displayed in real time, the current operation process and the operation progress are displayed, and the alarm information in the operation process is displayed. The grating sensor 9 is connected with the aluminum alloy screen through a fastening screw and a main support bracket, and is connected with the control cabinet through a power line and a data line. The system is mainly used for personnel protection and is controlled by a main control unit, when personnel approach the six-axis cooperative robot 4 in operation and enter the fence range of the grating sensor 9, the system automatically stops and stops operation, and accidents of injury to the personnel are prevented. The tightening shaft and torque collector 10 is fixed with a double-shaft tightening bracket 13 through a tightening screw and is connected with a tightening shaft controller 5 through a special data line. The whole tightening shaft is driven by electricity, the tightening shaft body and the data acquisition sensor are of an integral structure, the tightening torque value of the bolt is acquired in real time while the bolt is tightened, and the tightening torque value is transmitted back to the tightening shaft controller 5 through a data cable. The vision recognition camera and the laser ranging sensor 11 are connected with the double-shaft tightening support 13 through fastening screws and a main support, and are connected with the main control machine through power lines and data lines. The hole position of the workpiece bolt is identified and the coordinate is positioned in a real-time photographing and comparing mode, the distance between the tightening shaft and the workpiece is fed back in real time through a laser ranging principle, and the automatic screw tightening mechanism is a key component for automatic assembly and tightening of the shaft. The bottom of the air spring workpiece is a steel bottom plate, the middle of the air spring workpiece is an air bag made of rubber, and the upper part of the air spring workpiece is a cover plate made of metal. The rubber air bag is not inflated in normal times, is soft and elastic, and forms a floating structure with the air bag at the bottom when the top cover plate is installed. It is directly placed on the frock subassembly through the locating hole, through locating pin and frock subassembly upper surface location. The double-shaft tightening bracket 13 is fixedly connected with the tail end of the six-shaft cooperative robot through a flange mounting surface by adopting a fastening screw, and is fixed with a tightening shaft through the fastening screw and a positioning pin; the tool assembly is fixed with the ground through an expansion bolt and is positioned with the air spring workpiece through a positioning pin and a positioning hole; the aluminum alloy screen is fixed with the ground through an expansion bolt and is fixed with the ultraviolet disinfection lamp, the tightening shaft controller, the grating sensor and the robot controller through fastening screws.
The working process is as follows:
A. according to the program setting, seven morning, the ultraviolet ray disinfection module begins to work, one minute before disinfection, the buzzer alarm of disinfection lamp self-carrying begins to work, and the alarm module sends out pronunciation and reminds: and (5) starting the workshop sterilization work and leaving the personnel. After a minute, this workshop intelligence lock locking of main control computer control, the workshop door is locked, and the ultraviolet ray virus killing lamp is opened, carries out the virus killing to the workshop, and about 30 minutes back, the automatic stop work of ultraviolet ray virus killing lamp, this workshop intelligence lock of main control computer control is opened simultaneously, and the workshop door is unblanked, and alarm module sends pronunciation and reminds: personnel can enter safely.
B. And the main control computer controls each axis of the six-axis cooperative robot to return to a zero position according to the program setting, and the grating sensor is started to work.
C. An operator hoists the air spring workpiece to the table board of the air spring tool assembly through the truss crane and positions the workpiece through the positioning pin.
D. After the grating sensor detects that the personnel are hoisted and separated, the main control unit controls the robot vision recognition camera and the laser ranging sensor to be started, and the vision recognition camera starts to scan the hollow spring workpiece.
E. The visual recognition camera and the laser ranging sensor detect the air spring workpiece, and after coordinate points of the air spring workpiece are collected, data are sent to the main control computer.
F. The main control machine analyzes and processes the data to generate movement path information of the six-axis robot module, the movement path information of the six-axis robot module is sent to the robot controller, and the robot controller converts the movement path information into servo signals of each servo axis motor of the six-axis cooperative robot.
G. And the six-axis cooperative robot starts to act, each axis of the six-axis cooperative robot drives a joint to rotate according to the read servo signal sent by the robot controller, and the double-screwing-up shaft bracket arranged on the flange plate at the tail end of the six-axis cooperative robot is moved to a position vertical to the surface of the air spring workpiece.
H. The visual recognition camera and the laser ranging sensor work again, the hollow spring workpiece cover plate is photographed, and data are sent to the main control computer.
I. After the main control machine analyzes and processes the data, an instruction is sent to the robot controller to drive the six-axis cooperative robot to drive the tightening shaft support to carry out angle fine adjustment, so that the axis of the tightening shaft is aligned to the axis of the bolt hole.
J. And the visual recognition camera acquires coordinates of the data after the angle of the tightening shaft is finely adjusted and sends the coordinates to the main control machine.
K. After the main control computer analyzes and processes the data, an instruction is sent out to control the servo motor rotating by the axial angle of the six-axis cooperative robot to perform fixed-point braking, so that the six-axis cooperative robot and the double-shaft tightening shaft are combined into rigidity.
And the L-axis and six-axis cooperative robots continue to receive instructions to drive the tightening shaft bracket to axially and downwards feed to a specified position along the direction vertical to the working surface of the air spring cover plate.
And M, the central control center sends an instruction to the tightening shaft controller to drive the tightening shaft to be screwed up in a rotating manner.
And N, the system completes automatic feeding and bolt tightening operations on the air spring workpiece, and meanwhile, the tightening shaft continues to receive instructions to maintain the bolt torque in a delayed mode so as to prevent the torque from being attenuated.
And O, completing bolt tightening by the tightening shaft, lifting to a fixed height value (set by a system), and then performing fixed point braking after the six-axis cooperative robot rotates for a certain angle again along the Z-axis direction, so that the six-axis cooperative robot body and the double-shaft tightening shaft are combined to be rigid.
P, repeating the steps.
And Q, after all bolt operations in the whole empty spring space are finished, the six-axis cooperative robot drives the double-axis tightening shaft to drive each coordinate axis to return to the original point.
And R, the main control computer controls the visual recognition camera and the laser ranging sensor to be closed, and the grating sensor is kept opened.
S, the operating personnel lift the air spring assembly which is finished with the operation away from the station by the truss crane, and lift a new workpiece to be operated again.
And T, after the grating sensor detects that the operator leaves, the data are sent to the main control computer.
And the U and the main control machine send out an instruction after receiving the data, control the visual recognition camera and the laser ranging sensor to continue to be started, and continue the following air spring workpiece screwing operation.
V, after the operation on the same day is finished, the main control computer is automatically shut down, and the ultraviolet disinfection module continues to work according to the program setting.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An intelligent robot air spring double-shaft automatic tightening system is characterized by comprising a tool assembly, a support module, a six-shaft robot module and a double-shaft tightening module which are integrated on the support module, and a main control machine,
the tool assembly is used for tooling an air spring workpiece (12);
the double-shaft tightening module is arranged at the tail end of the six-shaft cooperative robot (4) and comprises an information identification device, a tightening shaft and torque collector (10) and a tightening shaft controller (5), wherein the information identification device is used for identifying coordinate point information and tightening processing information of an air spring workpiece (12) and transmitting the coordinate point information and the processing information to a main control computer so as to generate motion path information of the six-shaft robot module, the tightening shaft controller (5) controls the tightening shaft and torque collector (10) to tighten bolts on a cover plate of the air spring workpiece (12) according to tightening instructions sent by the main control computer and carries out delay maintenance on bolt torque, and meanwhile, the tightening shaft and torque collector (10) collects bolt torque values and sends the torque values to the main control computer;
the six-axis robot module comprises a robot controller (6) and a six-axis cooperative robot (4), wherein the robot controller (6) is in communication connection with the main control computer and is used for converting motion path information sent by the main control computer into servo signals of a driving motor of the six-axis cooperative robot (4), and the six-axis cooperative robot (4) drives the tightening shaft and the torque collector (10) to align to a pair of bolts on a cover plate of an air spring workpiece (12) according to the servo signals of the driving motor;
the main control machine is used for sending a tightening instruction to the tightening shaft controller (5) after the tightening shaft and the torque collector (10) are aligned with the bolts on the cover plate of the air spring workpiece (12), and adjusting the rotating angles of the tightening shaft and the torque collector (10) according to the tightening operation condition of the tightening shaft and the torque collector (10) and tightening processing information.
2. An intelligent robot air spring double-shaft automatic tightening system according to claim 1, characterized in that the support module comprises a main support bracket (15) and a cooperative robot bracket (2), the support module is fixedly connected with a foundation, and the cooperative robot bracket is fixedly arranged on the main support bracket and is used for supporting the six-shaft cooperative robot (4).
3. The intelligent robot air spring double-shaft automatic tightening system according to claim 1, wherein the information recognition device is arranged on the tightening shaft and torque collector (10), the information recognition device comprises a visual recognition camera and a laser ranging sensor, the visual recognition camera is used for recognizing coordinate point information of the air spring workpiece (12) and image information of bolts on a cover plate of the air spring workpiece (12), and the laser ranging sensor is used for measuring distance information between the tightening shaft and torque collector (10) and the bolts on the cover plate of the air spring workpiece (12).
4. The intelligent robot air-spring double-shaft automatic tightening system according to claim 1, wherein the tightening shaft and torque collector (10) comprises a tightening shaft and a torque data collector arranged on the tightening shaft, the tightening shaft comprises a rotating shaft, a double-shaft tightening bracket (13) and two tightening assemblies, one end of the rotating shaft is rotatably connected with the tail end of the six-shaft cooperative robot (4) through a flange, the other end of the rotating shaft is fixedly connected with the double-shaft tightening bracket (13), and the two tightening assemblies are fixedly arranged at two ends of the double-shaft tightening bracket (13).
5. The intelligent robotic air spring dual-axis automatic tightening system according to claim 4, wherein the tightening assembly comprises a tightening motor, an encoder and a tightening tool connected in sequence.
6. The air spring double-shaft automatic tightening system of the intelligent robot according to claim 1, wherein the main control machine comprises a control cabinet (1), the control cabinet (1) is arranged beside the support module, the main control machine further comprises a system display screen (8) arranged on the support module, a data acquisition module, a data processing module and a communication module, and the data processing module is integrated with an image processor.
7. The intelligent robot air spring double-shaft automatic tightening system according to claim 1, further comprising an ultraviolet disinfection module and an alarm module, wherein the ultraviolet disinfection module and the alarm module are both arranged at the top of the support module, and the alarm module is used for sending an alarm instruction within a specified time before the ultraviolet disinfection module works;
the robot air-spring double-shaft automatic tightening system further comprises an intelligent lock arranged on a workshop door, and the intelligent lock is in communication connection with the main control computer and used for locking at a specified time point after the alarm module sends an alarm instruction.
8. The intelligent robot air spring double-shaft automatic tightening system according to claim 1, further comprising a grating sensor (9) fixedly arranged on a vertical wall of the support module.
9. An intelligent robot air spring double-shaft automatic tightening method is characterized by comprising the following steps:
s1, zeroing the positions and data of the six-axis robot module;
s2, hoisting the air spring workpiece (12) to the tool assembly;
the S3 information recognition device recognizes the air spring workpiece (12) and the six-axis robot module, and sends the recognized coordinate point information of the air spring workpiece (12) and the screwing processing information to the main control machine;
s4, the main control computer processes according to the coordinate point information of the air spring workpiece (12) and the tightening processing information to generate the motion path information of the six-axis robot module and the rotation angle information of the tightening shaft and the torque collector (10), and sends the information to the robot controller (6);
s5, the robot controller (6) converts the motion path information and the rotation angle information into a servo signal of a driving motor of the six-axis cooperative robot (4);
s6, driving the six-axis cooperative robot (4) to move by the six-axis cooperative robot (4) driving motor according to the servo signal, so that a tightening shaft and a torque collector (10) are vertically aligned with a pair of bolts on a cover plate of the air spring workpiece (12);
s7, the main control machine sends a tightening instruction to a tightening shaft controller (5), the tightening shaft controller (5) controls the tightening shaft and the torque collector (10) to tighten the bolts on the cover plate of the air spring workpiece (12) according to the tightening instruction, the bolt torque is kept in a delayed mode, and meanwhile the tightening shaft and the torque collector (10) collect a bolt torque value and send the torque value to the main control machine;
s8, after the tightening shaft and the torque collector (10) finish the tightening work of one pair of bolts, the six-shaft cooperative robot (4) is lifted upwards for a specified distance, and then the tightening shaft and the torque collector (10) are driven to rotate to be aligned with the next pair of bolts and then are lowered for the specified distance;
s9, repeating the steps S7 to S8 until the tightening work of all bolts on the cover plate of the air spring workpiece (12) is completed, and the six-axis cooperative robot (4) returns and drives the tightening shaft and the torque collector (10) to return.
10. The intelligent robot air spring double-shaft automatic tightening method according to claim 9, wherein before the step S1, the method further comprises the following steps:
s01, starting an alarm module to prompt the staff to leave the workshop;
s02, starting the ultraviolet disinfection module, conducting ultraviolet disinfection on the workshop, and locking the workshop door;
s03, completing ultraviolet disinfection, and opening a workshop door;
step S2 further includes the steps of:
after the air spring workpiece (12) is hoisted, the main control computer controls the grating sensor (9) to detect the departure condition of the personnel in the workshop, if the personnel leave, the step S3 is executed, otherwise, the alarm module prompts to alarm until the personnel leave.
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| CN113814710A (en) * | 2021-10-20 | 2021-12-21 | 北京北方红旗精密机械制造有限公司 | Automatic detonator tightening machine |
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| CN115319446A (en) * | 2022-08-15 | 2022-11-11 | 中交第一航务工程局有限公司 | Large-scale wind-powered electricity generation blade assembly fastening robot system |
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