CN111922698B - Processing control method of penetrating type tail lamp outer framework - Google Patents
Processing control method of penetrating type tail lamp outer framework Download PDFInfo
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- CN111922698B CN111922698B CN202010653220.XA CN202010653220A CN111922698B CN 111922698 B CN111922698 B CN 111922698B CN 202010653220 A CN202010653220 A CN 202010653220A CN 111922698 B CN111922698 B CN 111922698B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
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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
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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
- B23P19/04—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 for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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Abstract
The invention discloses a processing method of a penetrating type tail lamp outer skeleton, which comprises a processing control system, wherein the processing control system comprises an assembly cabinet body, the top surface of the assembly cabinet body is provided with a tail lamp mounting seat fixing position and a screw machine mounting position, the top of the assembly cabinet body is also provided with a robot mounting frame, and the robot mounting frame is provided with a robot fixing plate; the screw feeding machines are arranged on the screw machine mounting positions; the robot fixing plates are all provided with intelligent mechanical arms, and the operation end of each intelligent mechanical arm is provided with an automatic screw machine; a control cavity is arranged in the assembly cabinet body, a master controller is arranged in the control cavity, and the master controller is respectively connected with the intelligent mechanical arm and the automatic screw machine; a transmitting safety grating and a receiving safety grating are also arranged on the robot mounting frame; the processing control system completes screw assembly of the outer frame of the penetrating tail lamp intelligently, more efficiently and lower in cost through a processing control method.
Description
Technical Field
The invention relates to the technical field of automobile parts, in particular to a processing control method of a penetrating type tail lamp outer framework.
Background
As the automobile is more and more popularized in daily life of people to provide convenience for people, the automobile has become a household necessity; along with the popularization of automobiles, the total amount of automobiles rises, the urban road expansion and even the optimization of automobile parts are also in synchronous upgrade aiming at the automobile traffic safety, and the safety of individuals is protected while the high efficiency traffic brought by the automobiles is ensured undoubtedly; among them, from the development trend of automobiles of various brands (even automobile brands at home and abroad), the through tail lamp in the automobile design is more and more common, and seems to become an aesthetic trend, and is increasingly popular, and the through tail lamp not only brings aesthetic feeling, but also brings safety to drivers and passengers; compared with the traditional single-point tail lamp, the penetration type tail lamp is safer under the popularization of the LED light source, the light of the penetration type tail lamp can provide enough warning for a rear vehicle, and the rear-end collision traffic accident can be avoided at a high probability.
In the production of the through type tail lamp, the screw assembly of the outer framework and the lamp shell is manual assembly, the production amount is large based on automobile parts, the manual assembly is not only low in efficiency, but also low in assembly precision, and defective products are easy to occur.
The defects of the prior art are that a processing system and a processing method of an outer framework of a penetrating tail lamp are lacked, and the processing system and the processing method are used for assembling intelligent screws for fixing the outer framework of the penetrating tail lamp.
Disclosure of Invention
In order to solve the problems, the invention provides a processing control method of a penetrating tail lamp outer frame, which is used for assembling intelligent screws for fixing the penetrating tail lamp outer frame.
The technical scheme is as follows:
the processing control method of the penetrating type tail lamp outer framework is characterized by comprising a processing control system, wherein the processing control system comprises an assembly cabinet body, the top surface of the assembly cabinet body is provided with a tail lamp mounting seat fixing position and M screw machine mounting positions, the top of the assembly cabinet body is also provided with a robot mounting frame, and the robot mounting frame is provided with M robot fixing plates; the M screw machine mounting positions are provided with screw feeding machines; m all install intelligent arm on the robot fixed plate, every all install automatic screw machine on the operation end of intelligent arm.
The assembly cabinet body is at least internally provided with a control chamber and an oil-water filter installation control chamber, a master controller is installed in the control chamber, and the master controller is respectively connected with the intelligent mechanical arm and the automatic screw machine; m controller installation positions and a wiring board are arranged in the control chamber, and the wiring board is detachably arranged at the bottom of the control chamber; the M arm controllers are installed on the arm controller installation positions, each arm controller is connected with a corresponding driving module of the intelligent arm, and the master controller is connected with the M arm controllers respectively.
The tail lamp mounting seat fixing position is provided with a penetrating tail lamp processing clamp, the penetrating tail lamp processing clamp comprises a fixing bottom plate, the fixing bottom plate comprises a mounting top surface and a fixing bottom surface, a lamp holder clamp combination and a pressing device combination are mounted on the mounting top surface, the lamp holder clamp combination comprises two end mounting seats and a middle supporting seat, the two end mounting seats are symmetrically arranged, and the middle supporting seat is arranged between the two end mounting seats; the pressing device combination comprises two end pressing devices, the two end pressing devices are arranged on the periphery of the two end mounting seats in a one-to-one correspondence mode, the pressing ends of the end pressing devices are located above the end mounting seats, and the master controller is connected with the end pressing devices.
The side frame of the robot mounting frame is close to two mounting frames on the side of the through type tail lamp clamp, a sending safety grating and a receiving safety grating are respectively installed on the two mounting frames, wherein a sending end for sending the safety grating is right opposite to a receiving end for receiving the safety grating, and the master controller is respectively connected with the sending safety grating and the receiving safety grating.
The processing control method of the through tail lamp outer frame comprises the following specific steps:
presetting: according to the type of the structure of the outer framework of the penetrating tail lamp and the assembly positions of the screws of the structure, a tool identification code is arranged in a product processing code area of the outer framework of the penetrating tail lamp, and a corresponding assembly program is set in a master controller, wherein the assembly program comprises the number of the assembly positions of the screws and the sequence of the assembly positions of the screws; a screw feeding machine and a nail repairing position thereof corresponding to each intelligent mechanical arm are set in the master controller; a code scanner for identifying the tool identification code is arranged on the robot mounting frame and is connected with the master controller; a torsion value of the mounting screw is preset in the master controller; and setting the initial position of the intelligent mechanical arm.
S1: the penetrating type tail lamp processing clamp is arranged on the fixing position of the tail lamp mounting seat;
s2: placing and fixing the penetrating tail lamp outer framework in a penetrating tail lamp processing clamp, and acquiring a tool identification code on a product processing code area of the penetrating tail lamp outer framework by a master controller through a code scanner and calling a corresponding assembly program;
s3: the master controller acquires the on-off state of the end pressing device and judges whether the outer skeleton of the penetrating tail lamp is fixed or not; if yes, go to step S4; otherwise, return to step S1;
s4: the master controller acquires the shielding states of the sending safety grating and the receiving safety grating and judges that the working area of the intelligent mechanical arm is unmanned; if yes, go to step S5; otherwise, return to step S4;
s5: the master controller controls each intelligent mechanical arm to start after reaching an initial position;
s6: the master controller controls each intelligent mechanical arm to move to the corresponding screw feeding machine to take screws;
s7: the main controller controls the intelligent mechanical arm to move to a corresponding assembly position of the penetrating tail lamp outer framework, and an automatic screw machine is started to carry out screw assembly;
s8: the master controller judges whether all assembly positions are assembled or not; if yes, go to step S9; otherwise, return to step S6;
s9: and the master controller controls the intelligent mechanical arm to return to the initial position and stop running, and the assembled penetrating type tail lamp outer framework is taken out from the penetrating type tail lamp processing clamp.
The penetrating type tail lamp processing clamp is installed on a fixing position of a tail lamp installation seat by a worker; when the assembly is finished, the penetrating tail lamp outer frame is also taken out from the penetrating tail lamp processing clamp by a worker.
By adopting the design, the automatic screw machine on the intelligent mechanical arm is controlled by the master controller in the processing control system, and screw assembly is carried out on the penetrating tail lamp outer framework fixed on the penetrating tail lamp clamp, wherein aiming at the existing intelligent design and full-automatic screw assembly, the screw assembly efficiency of the penetrating tail lamp is improved, and the labor cost is reduced; and the yield of the product is also guaranteed.
The intelligent mechanical arm is controlled by the main controller through a processing control method to sequentially complete screw taking and screw assembling work; the automatic assembly mode improves production efficiency and improves the yield of the through tail lamp.
Further described, the automatic screw machine comprises an electric screwdriver, a torsion sensor, an optoelectronic switch and a displacement sensor, wherein the torsion sensor is used for detecting the torsion value of the electric screwdriver, the displacement sensor is used for detecting the descending position of the electric screwdriver, and the optoelectronic switch is used for detecting whether the screw sucked by the electric screwdriver is in place; the master controller is respectively connected with the electric screwdriver, the torsion sensor, the photoelectric switch and the displacement sensor.
By adopting the scheme, the intelligent mechanical arm is provided with the automatic screw machine, the mechanical arm controller controls the screw taking and assembling of the automatic screw machine through logic control, and the intelligent mechanical arm is simple and convenient and has high stability.
Further, in step S6, the step of controlling, by the general controller, each smart robot to move to the corresponding screw feeder to take out a screw includes:
presetting: setting a nail taking position of each group of intelligent mechanical arms corresponding to the automatic screw machine in the master controller;
s61: the main controller controls the intelligent mechanical arm to move the automatic screw machine to the screw feeder through the mechanical arm controller, and the position of the automatic screw machine is adjusted to enable the electric screwdriver to be aligned with the screw feeder;
s62: the master controller acquires the nail taking displacement data of the displacement sensor, compares the nail taking displacement data with the position data of a preset nail taking position, and judges whether the automatic screw machine is positioned at the preset nail taking position or not; if yes, go to step S63; otherwise, return to step S61;
s63: the master controller controls the intelligent mechanical arm to move downwards through the mechanical arm controller, so that the automatic screw machine can suck screws;
s64: the master controller acquires a photoelectric signal of the photoelectric switch and judges whether the screw sucked by the automatic screw machine is in place; if yes, go to step S65; otherwise, the process proceeds to step S66;
s65: the automatic screw machine sucks the screw to finish;
s66: and the master controller sends out a nail suction failure alarm signal, and controls the intelligent mechanical arm to return to the initial position and stop through the mechanical arm controller.
The main controller controls the automatic screw machine to take the screw by adopting PLC control, the PLC control logic is strong, corresponding change can be carried out according to the requirement, and the cost is lower; the PLC control bits are prior art and will not be discussed here.
By adopting the scheme, the master controller finishes the nail taking of the automatic screw machine through logic control; wherein, when getting the nail and appearing the mistake, can stop work, avoid intelligent mechanical arm procedure error, cause the incident.
Further describing, the main controller controls the intelligent mechanical arm to move to the assembly position of the penetrating type tail lamp outer framework in the step S7, and the automatic screw machine is started to assemble screws, specifically:
presetting: setting a nail taking position of each group of intelligent mechanical arms corresponding to the automatic screw machine in the master controller; a fastening torque threshold value is set in the master controller;
s71: the main controller moves the automatic screw machine to a preset screw assembling position on the outer skeleton of the penetrating tail lamp through the intelligent mechanical arm;
s72: the master controller acquires the assembly position data of the displacement sensor, compares the assembly position data with the position data of the preset screw assembly position, and judges whether the screwdriver is located at the preset screw assembly position; if yes, go to step S73; otherwise, return to step S71;
s73: the master controller starts the electric screwdriver and performs screw assembly;
s74: the master controller acquires a torque value of the torque sensor, compares the torque value with a preset fastening torque threshold value, and judges whether the screw assembled by the electric screwdriver is fastened or not; if yes, go to step S75; otherwise, go to step S76;
s75: completing screw assembly and assembling the next preset screw assembly position;
s76: the main controller sends out a torsion fault alarm signal, and controls the intelligent mechanical arm to return to the initial position and stop through the mechanical arm controller.
The master controller controls the automatic screw machine to assemble the screws by adopting PLC control, the PLC control has strong logic, can be correspondingly changed according to requirements, and has lower cost; the PLC control bits are prior art and will not be discussed here.
By adopting the scheme, the assembly of the screw is automatically completed through the master controller; wherein, in the screw assembling process, the screw assembling is completed according to a preset assembling program in sequence; if the problem occurs, the intelligent mechanical arm can return to the original position and automatically stop, and safety accidents are avoided.
Further, the end portion mounting seat comprises a mounting seat body, the mounting seat body comprises a first side face and a third side face along the length direction, a second side face and a fourth side face along the width direction, and a top face and a bottom face along the height direction, the top face of the mounting seat body is provided with a clamping arc-shaped groove, the clamping arc-shaped groove penetrates out of the first side face of the mounting seat body along the length direction of the mounting seat body, and a notch close to the first side face in the clamping arc-shaped groove is lower than a notch close to the third side face in the clamping arc-shaped groove;
an arc-shaped bearing block extends out of the bottom of the clamping arc-shaped groove along the arc-shaped circle center direction of the clamping arc-shaped groove, and the clamping arc-shaped groove is divided into a first mounting groove and a second mounting groove by the arc-shaped bearing block;
a lamp holder limiting block extends from the top surface of the arc-shaped bearing block along the arc-shaped circle center direction of the clamping arc-shaped groove and is close to the first side surface of the mounting seat body;
the top of the middle supporting seat is provided with a supporting groove, and the extending direction of the supporting groove is consistent with the extending direction of the clamping arc-shaped groove;
and the pressing end of the end pressing device is positioned above the notch of the clamping arc-shaped groove.
By adopting the scheme, the penetrating type tail lamp outer framework is fixed through the symmetrically arranged end mounting seats at two sides and the middle supporting seat, wherein the end mounting seats and the middle supporting seat are respectively provided with the clamping arc-shaped groove and the supporting groove correspondingly according to the shape of the lampshade at the outer side of the penetrating type tail lamp outer framework, and the lampshade at the outer side of the penetrating type tail lamp outer framework is attached, so that the penetrating type tail lamp outer framework is more stably fixed, and the displacement condition occurs in the processing process; and the vertical direction pressing force of the penetrating type tail lamp outer framework is applied by combining the end pressing device, so that the penetrating type tail lamp outer framework is more firmly fixed.
Further, the lamp holder fixture assembly further includes a first auxiliary support seat and a second auxiliary support seat, the first auxiliary support seat and the second auxiliary support seat are axisymmetrically installed at two sides of the middle support seat, and the first auxiliary support seat and the second auxiliary support seat are located between the two end installation seats and on a straight line where the end installation seat and the middle support seat are located;
the first auxiliary supporting seat comprises a first side wall, a second side wall, a third side wall and a fourth side wall, the second auxiliary supporting seat comprises a first side wall, a second side wall, a third side wall and a fourth side wall, auxiliary supporting grooves are formed in the tops of the first auxiliary supporting seat and the second auxiliary supporting seat along the direction of the clamping arc-shaped groove, the auxiliary supporting grooves of the first auxiliary supporting seat penetrate through the first side wall surface and the second side wall surface of the first auxiliary supporting seat, and the auxiliary supporting grooves of the second auxiliary supporting seat penetrate through the first side wall and the second side wall surface of the second auxiliary supporting seat;
the pressing device combination further comprises a first auxiliary pressing device and a second auxiliary pressing device, and the first auxiliary pressing device and the second auxiliary pressing device are correspondingly arranged on the periphery of the first auxiliary supporting seat and the second auxiliary supporting seat one by one; the pressing end of each of the first auxiliary pressing device and the second auxiliary pressing device is respectively positioned above the notches of the first auxiliary supporting seat and the second auxiliary supporting seat;
the end portion compactor is characterized in that a pressure sensor is arranged at a compaction end of the end portion compactor, pressure sensors are arranged at compaction ends of the first auxiliary compactor and the second auxiliary compactor, and the master controller is connected with the pressure sensor of the end portion compactor, the pressure sensor of the first auxiliary compactor and the pressure sensor of the second auxiliary compactor respectively.
By adopting the scheme, the two additionally arranged auxiliary supporting seats are arranged in the fixed penetrating type tail lamp outer framework, so that the bearing stress points are increased, the fixed penetrating type tail lamp outer framework is better fixed, and the fixed penetrating type tail lamp outer framework is prevented from deforming in the processing process; the pressure sensor of tip mount pad, the pressure sensor of first auxiliary stay seat and the pressure sensor of second auxiliary stay seat can direct feedback and run through the formula tail lamp exoskeleton whether fixed, improve the processing standard of running through formula tail lamp exoskeleton, avoid appearing the dislocation processing of screw, appear reporting the waste product.
Still further, an illumination mounting plate is arranged on the top of the robot mounting frame along the length direction, and an illumination lamp is fixed on one side of the illumination mounting plate facing the assembling cabinet body.
Adopt above-mentioned scheme, light and tail lamp mount pad fixed plate all set up along assembly cabinet body length direction, and then the tail lamp in the processing that the light can be clear shines. The visual sensor of staff and robot discernment, resolution of being convenient for. In order to improve the illumination effect, one side of the illumination mounting plate facing the assembly cabinet body is a mirror surface.
Further, the frame of the assembly cabinet body is integrally rectangular, the frame in the height direction is made of square steel tube materials, and after the square steel tubes extend upwards and are connected with the mounting frames in the length direction and the width direction at the top, the robot mounting frame is formed;
the top of any one of the square steel pipes is provided with a connecting rod, the connecting rod is connected with a display, and a connecting circuit of the display extends to the control chamber through the connecting rod and the square steel pipe and is connected with the master controller.
By adopting the scheme, the oil-water filter installation control cavity is arranged at a position close to any one square steel pipe and used for installing the oil-water filter, and the power transmission pipeline of the oil-water filter extends to the robot installation frame through the adjacent square steel pipe.
Further described, because the oil-water filter installation control chamber is used for installing the oil-water filter, a large amount of oil inlet and outlet pipelines are needed for oil-water filtration, and the oil-water filter installation control chamber is close to the square steel pipe, so that the space inside the steel pipe can be utilized for pipe arrangement and wiring.
The invention has the beneficial effects that: the automatic screw machine carried by the intelligent mechanical arm is controlled by the master controller to carry out screw assembly on the outer framework of the penetrating tail lamp clamp fixed in the penetrating tail lamp clamp, so that the intelligent and mechanical processing modes proposed in recent years are met, the assembly efficiency is improved, the yield is improved, and the cost is reduced; the processing control method of the through tail lamp clip outer framework is used for completing the assembly of the screw taking and the corresponding screw through the intelligent mechanical arm, and the method is simple, quick and efficient and meets the current intelligent development; the two additional auxiliary supporting seats are arranged in the fixed penetrating type tail lamp outer framework, so that bearing stress points are increased, the fixed penetrating type tail lamp outer framework is better fixed, and the fixed penetrating type tail lamp outer framework is prevented from deforming in the machining process; the safety grating arranged on the robot mounting frame ensures the production safety of the intelligent mechanical arm in the working process and avoids safety accidents; the added display is convenient for checking various parameters and processing courses in the processing process.
Drawings
FIG. 1 is a block diagram of the control system of the present invention;
FIG. 2 is a schematic view of the overall structure of the assembled cabinet of the present invention;
FIG. 3 is a schematic view of the overall structure of the assembly cabinet of the present invention;
FIG. 4 is a partial view of the smart robotic arm of the present invention;
FIG. 5 is a third schematic view of the overall structure of the assembled cabinet of the present invention;
FIG. 6 is a schematic view of the through type tail lamp processing clamp of the present invention;
FIG. 7 is a first assembly view of the through taillight machining fixture and the through taillight outer frame of the present invention;
fig. 8 is a second assembly view of the through tail lamp machining fixture and the through tail lamp outer frame of the present invention;
FIG. 9 is a first end mount configuration of the present invention;
FIG. 10 is a second structural view of the end mount of the present invention;
FIG. 11 is a view showing the structure of the auxiliary support seat and the middle support seat of the present invention;
FIG. 12 is a flow chart of a process control method of the present invention;
fig. 13 is a flowchart showing details of step S6 in the machining control method of the present invention;
fig. 14 is a flowchart illustrating the processing control method of the present invention in detail in step S7.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description.
It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
In the present embodiment:
as can be seen from fig. 1 to 5, the processing control system for the penetrating tail lamp outer frame comprises an assembly cabinet body D1, a tail lamp mounting seat fixing position D2 and M screw machine mounting positions D3 are arranged on the top surface of the assembly cabinet body D1, a robot mounting frame D4 is further arranged on the top of the assembly cabinet body D1, and the robot mounting frame D4 is provided with M robot fixing plates D5; the M screw machine mounting positions D3 are respectively provided with a screw feeder; all install intelligent arm on M robot fixed plate D5, all install automatic screw machine on the operation end of every intelligent arm.
What processing control system processed in this embodiment mode is the through type tail lamp exoskeleton, and this M is 3, adopts 3 intelligent mechanical arms to carry out the screw assembly to through type tail lamp exoskeleton simultaneously promptly.
A control chamber D6 and an oil-water filter installation control chamber D7 are arranged in the assembly cabinet body D1, a master controller is installed in the control chamber D6, and the master controller is respectively connected with the intelligent mechanical arm and the automatic screw machine; m controller installation positions and a wiring board are arranged in the control chamber D6, and the wiring board is detachably arranged at the bottom of the control chamber D6; the M arm controllers are mounted on the mounting positions of the arm controllers, each arm controller is connected with the corresponding driving module of the intelligent arm, and the master controller is connected with the M arm controllers respectively.
A penetrating tail lamp processing clamp is arranged at the tail lamp mounting seat fixing position D2, a penetrating tail lamp processing clamp is arranged at the tail lamp mounting seat fixing position D2, the penetrating tail lamp processing clamp comprises a fixing bottom plate, the fixing bottom plate comprises a mounting top surface and a fixing bottom surface, a lamp holder clamp combination and a pressing device combination are arranged on the mounting top surface, the lamp holder clamp combination comprises two end mounting seats 21 and a middle supporting seat 22, the two end mounting seats 21 are symmetrically arranged, and the middle supporting seat 22 is arranged between the two end mounting seats 21; the pressing device combination comprises two end pressing devices 31, the two end pressing devices 31 are arranged around the two end mounting bases 21 in a one-to-one correspondence mode, the pressing ends of the end pressing devices 31 are located above the end mounting bases 21, and the master controller is connected with the end pressing devices 31.
A transmitting safety grating D41 and a receiving safety grating D42 are respectively arranged on two mounting racks which are close to the side of the through tail lamp clamp in a side frame of the robot mounting rack D4, wherein a transmitting end of the transmitting safety grating D41 is over against a receiving end of the receiving safety grating D42, and a master controller is respectively connected with the transmitting safety grating D41 and the receiving safety grating D42.
As can be seen from fig. 1-4, the automatic screwdriver comprises a screwdriver D521, a torque sensor for detecting a torque value of the screwdriver D521, a photoelectric switch for detecting a descending position of the screwdriver D521, and a displacement sensor for detecting whether a screw sucked by the screwdriver D521 is in place; the master controller is respectively connected with the electric screwdriver D521, the torsion sensor, the photoelectric switch and the displacement sensor.
As can be seen from fig. 6 to 8, the end portion mounting seat 21 includes a mounting seat body a, the mounting seat body a includes a first side and a third side along the length direction, a second side and a fourth side along the width direction, a top surface and a bottom surface along the height direction, a clamping arc-shaped groove a1 is provided on the top surface of the mounting seat body a, the clamping arc-shaped groove a1 penetrates out of the first side of the mounting seat body a along the length direction of the mounting seat body a, and a notch close to the first side in the clamping arc-shaped groove a1 is lower than a notch close to the third side in the clamping arc-shaped groove a 1.
An arc-shaped bearing block A2 extends out of the bottom of the clamping arc-shaped groove A1 along the arc-shaped circle center direction of the clamping arc-shaped groove A1, and the clamping arc-shaped groove A1 is divided into a first mounting groove B1 and a second mounting groove B2 by the arc-shaped bearing block A2; a lamp holder limiting block A3 extends from the top surface of the arc-shaped bearing block A2 along the arc-shaped circle center direction of the clamping arc-shaped groove A1, and the lamp holder limiting block A3 is close to the first side surface of the mounting seat body A; the top of the middle supporting seat 22 is provided with a supporting groove, and the extending direction of the supporting groove is consistent with the extending direction of the clamping arc-shaped groove A1; the pressing end of the end presser 31 is located above the notch of the catching arc-shaped groove a 1.
As can be seen from fig. 9-11, the lamp holder fixture assembly further includes a first auxiliary support base 23 and a second auxiliary support base 24, the first auxiliary support base 23 and the second auxiliary support base 24 are axisymmetrically installed at two sides of the middle support base 22, and the first auxiliary support base 23 and the second auxiliary support base 24 are located between the two end portion installation bases 21 and on a straight line where the end portion installation base 21 and the middle support base 22 are located.
First auxiliary supporting seat 23 includes first lateral wall, the second lateral wall, the third lateral wall and fourth lateral wall, second auxiliary supporting seat 24 includes first lateral wall, the second lateral wall, third lateral wall and fourth lateral wall, auxiliary stay groove has all been seted up along joint arc wall A1 direction at the top of first auxiliary supporting seat 23 and second auxiliary supporting seat 24, the auxiliary stay groove of first auxiliary supporting seat 23 runs through the first lateral wall face and the second lateral wall of first auxiliary supporting seat 23, the auxiliary stay groove of second auxiliary supporting seat 24 runs through the first lateral wall and the second lateral wall of second auxiliary supporting seat 24.
The pressing device combination further comprises a first auxiliary pressing device 32 and a second auxiliary pressing device 33, wherein the first auxiliary pressing device 32 and the second auxiliary pressing device 33 are correspondingly arranged on the periphery of the first auxiliary supporting seat 23 and the second auxiliary supporting seat 24 one by one; the pressing end of each of the first auxiliary presser 32 and the second auxiliary presser 33 is located above the notches of the first auxiliary support seat 23 and the second auxiliary support seat 24, respectively.
The pressing end of the end pressing device 31 is provided with a pressure sensor, the pressing ends of the first auxiliary pressing device 32 and the second auxiliary pressing device 33 are provided with pressure sensors, and the master controller is connected with the pressure sensor of the end pressing device 31, the pressure sensor of the first auxiliary pressing device 32 and the pressure sensor of the second auxiliary pressing device 33 respectively.
As can be seen from fig. 1 to 5, a lighting mounting plate D8 is provided at the top of the robot mounting frame D4 along the length direction, and a lighting lamp D9 is fixed to the side of the lighting mounting plate D8 facing the mounting cabinet D1.
As can be seen from fig. 1 to 5, the frame of the assembly cabinet body D1 is a cuboid, the frame in the height direction is made of square steel tube, and after the square steel tube extends upwards and is connected with the mounting frames in the length and width directions at the top, the robot mounting frame D4 is formed; the top of any one square steel tube is provided with a connecting rod D10, the connecting rod D10 is connected with a display, and the connecting line of the display extends to the control chamber D6 through the connecting rod D10 and the square steel tube and is connected with a master controller.
As can be seen from fig. 1 to 5, a profit filter installation control chamber D7 is provided near any one of the square steel pipes for installing a profit filter, and a power transmission line of the profit filter extends to the robot mounting frame D4 through the adjacent square steel pipe.
As can be seen from fig. 12, the specific steps of the processing control method for the outer frame of the run-through tail light include:
presetting: according to the type of the structure of the outer framework of the penetrating tail lamp and the assembly positions of the screws of the structure, a tool identification code is arranged in a product processing code area of the outer framework of the penetrating tail lamp, and a corresponding assembly program is set in a master controller, wherein the assembly program comprises the number of the assembly positions of the screws and the sequence of the assembly positions of the screws; a screw feeding machine and a nail repairing position thereof corresponding to each intelligent mechanical arm are set in the master controller; a code scanner for identifying the tool identification code is arranged on the robot mounting rack D4 and is connected with the master controller; a torsion value of the mounting screw is preset in the master controller; setting an initial position of the intelligent mechanical arm;
s1: the penetrating tail lamp processing clamp is arranged on the tail lamp mounting seat fixing position D2;
s2: placing and fixing the penetrating tail lamp outer framework in a penetrating tail lamp processing clamp, and acquiring a tool identification code on a product processing code area of the penetrating tail lamp outer framework by a master controller through a code scanner and calling a corresponding assembly program;
s3: the master controller acquires the on-off state of the end pressing device 31 and judges whether the outer skeleton of the penetrating tail lamp is fixed or not; if yes, go to step S4; otherwise, return to step S1;
s4: the master controller obtains the shielding states of the sending safety grating D41 and the receiving safety grating D42 and judges that the working area of the intelligent mechanical arm is unmanned; if yes, go to step S5; otherwise, return to step S4;
s5: the master controller controls each intelligent mechanical arm to start after reaching an initial position;
s6: the master controller controls each intelligent mechanical arm to move to the corresponding screw feeding machine to take screws;
s7: the main controller controls the intelligent mechanical arm to move to a corresponding assembly position of the penetrating tail lamp outer framework, and an automatic screw machine is started to carry out screw assembly;
s8: the master controller judges whether all assembly positions are assembled or not; if yes, go to step S9; otherwise, return to step S6;
s9: and the master controller controls the intelligent mechanical arm to return to the initial position and stop running, and the assembled penetrating type tail lamp outer framework is taken out from the penetrating type tail lamp processing clamp.
As can be seen from fig. 13, in step S6, the general controller controls each smart robot to move to the corresponding screw feeding machine to take screws specifically:
presetting: setting a nail taking position of each group of intelligent mechanical arms corresponding to the automatic screw machine in the master controller;
s61: the main controller controls the intelligent mechanical arm to move the automatic screw machine to the screw feeding machine through the mechanical arm controller, and the position of the automatic screw machine is adjusted to enable the electric screwdriver D521 to be aligned with the screw feeding machine;
s62: the master controller acquires the nail taking displacement data of the displacement sensor, compares the nail taking displacement data with the position data of a preset nail taking position, and judges whether the automatic screw machine is positioned at the preset nail taking position or not; if yes, go to step S63; otherwise, return to step S61;
s63: the master controller controls the intelligent mechanical arm to move downwards through the mechanical arm controller, so that the automatic screw machine can suck screws;
s64: the master controller acquires a photoelectric signal of the photoelectric switch and judges whether the screw sucked by the automatic screw machine is in place; if yes, go to step S65; otherwise, the process proceeds to step S66;
s65: the automatic screw machine sucks the screw to finish;
s66: the master controller sends out a nail suction failure alarm signal, and controls the intelligent mechanical arm D51 to return to the initial position and stop through the mechanical arm controller.
As can be seen from fig. 14, in step S7, the general controller controls the smart mechanical arm to move to the assembling position of the through-type tail light exoskeleton, and starts the automatic screw machine to perform screw assembling specifically as follows:
presetting: setting a nail taking position of each group of intelligent mechanical arms corresponding to the automatic screw machine in the master controller; a fastening torque threshold value is set in the master controller;
s71: the main controller moves the automatic screw machine to a preset screw assembling position on the outer skeleton of the penetrating tail lamp through the intelligent mechanical arm;
s72: the master controller acquires the assembly position data of the displacement sensor, compares the assembly position data with the position data of the preset screw assembly position, and judges whether the screwdriver D521 is positioned at the preset screw assembly position; if yes, go to step S73; otherwise, return to step S71;
s73: the master controller starts the electric screwdriver D521 and performs screw assembly;
s74: the master controller acquires a torque value of the torque sensor, compares the torque value with a preset fastening torque threshold value, and judges whether a screw assembled by the electric screwdriver D521 is fastened or not; if yes, go to step S75; otherwise, go to step S76;
s75: completing screw assembly and assembling the next preset screw assembly position;
s76: the master controller sends out a torsion fault alarm signal, and controls the intelligent mechanical arm D51 to return to the initial position and stop through the mechanical arm controller.
The control principle of the invention is as follows:
a worker places the penetrating tail lamp outer framework clamp on the tail lamp mounting seat fixing position and places the penetrating tail lamp outer framework in the penetrating tail lamp outer framework clamp; the master controller acquires a tool identification code of a processing code area of a product of the outer skeleton of the penetrating tail lamp through the code scanner and calls an assembly program for processing the outer skeleton of the penetrating tail lamp; the master controller controls the intelligent mechanical arm to take the screws and assemble the screws at the corresponding assembly positions according to the assembly programs until all the assembly positions in all the assembly programs are assembled; and the worker takes down the assembled through tail lamp outer frame from the through tail lamp outer frame clamp.
Claims (9)
1. A processing control method of a through tail lamp outer skeleton is characterized by comprising a processing control system, wherein the processing control system comprises an assembly cabinet body (D1), the top surface of the assembly cabinet body (D1) is provided with a tail lamp mounting seat fixing position (D2) and M screw machine mounting positions (D3), the top of the assembly cabinet body (D1) is further provided with a robot mounting frame (D4), and the robot mounting frame (D4) is provided with M robot fixing plates (D5); the M screw machine mounting positions (D3) are respectively provided with a screw feeding machine; the M robot fixing plates (D5) are respectively provided with an intelligent mechanical arm, and the operating end of each intelligent mechanical arm is provided with an automatic screw machine;
at least a control chamber (D6) and an oil-water filter installation control chamber (D7) are arranged in the assembly cabinet body (D1), a master controller is installed in the control chamber (D6), and the master controller is respectively connected with the intelligent mechanical arm and the automatic screw machine; m controller installation positions and a wiring board are arranged in the control chamber (D6), and the wiring board is detachably installed at the bottom of the control chamber (D6); the M mechanical arm controller installation positions are all provided with mechanical arm controllers, each mechanical arm controller is connected with a driving module of a corresponding intelligent mechanical arm, and the master controller is respectively connected with the M mechanical arm controllers;
a penetrating tail lamp processing clamp is arranged at the tail lamp mounting seat fixing position (D2), the penetrating tail lamp processing clamp comprises a fixing bottom plate, the fixing bottom plate comprises a mounting top surface and a fixing bottom surface, a lamp holder clamp combination and a pressing device combination are arranged on the mounting top surface, the lamp holder clamp combination comprises two end mounting seats (21) and a middle supporting seat (22), the two end mounting seats (21) are symmetrically arranged, and the middle supporting seat (22) is arranged between the two end mounting seats (21); the pressing device combination comprises two end pressing devices (31), the two end pressing devices (31) are correspondingly arranged on the periphery of the two end mounting seats (21) one by one, the pressing ends of the end pressing devices (31) are positioned above the end mounting seats (21), and the master controller is connected with the end pressing devices (31);
a transmitting safety grating (D41) and a receiving safety grating (D42) are respectively installed on two installation frames, close to the side of the through tail lamp clamp, in a side frame of the robot installation frame (D4), wherein a transmitting end of the transmitting safety grating (D41) is over against a receiving end of the receiving safety grating (D42), and the master controller is respectively connected with the transmitting safety grating (D41) and the receiving safety grating (D42);
the processing control method of the through tail lamp outer frame comprises the following specific steps:
presetting: according to the type of the structure of the outer framework of the penetrating tail lamp and the assembly positions of the screws of the structure, a tool identification code is arranged in a product processing code area of the outer framework of the penetrating tail lamp, and a corresponding assembly program is set in a master controller, wherein the assembly program comprises the number of the assembly positions of the screws and the sequence of the assembly positions of the screws; a screw feeding machine and a nail repairing position thereof corresponding to each intelligent mechanical arm are set in the master controller; a code scanner for identifying the tool identification code is arranged on the robot mounting frame (D4) and is connected with the master controller; a torsion value of the mounting screw is preset in the master controller; setting an initial position of the intelligent mechanical arm;
s1: the penetrating tail lamp processing clamp is arranged on a tail lamp mounting seat fixing position (D2);
s2: placing and fixing the penetrating tail lamp outer framework in a penetrating tail lamp processing clamp, and acquiring a tool identification code on a product processing code area of the penetrating tail lamp outer framework by a master controller through a code scanner and calling a corresponding assembly program;
s3: the master controller acquires the on-off state of the end pressing device (31) and judges whether the outer skeleton of the penetrating tail lamp is fixed or not; if yes, go to step S4; otherwise, return to step S1;
s4: the master controller obtains the shielding states of the sending safety grating (D41) and the receiving safety grating (D42), and judges that the working area of the intelligent mechanical arm is unmanned; if yes, go to step S5; otherwise, return to step S4;
s5: the master controller controls each intelligent mechanical arm to start after reaching an initial position;
s6: the master controller controls each intelligent mechanical arm to move to the corresponding screw feeding machine to take screws;
s7: the main controller controls the intelligent mechanical arm to move to a corresponding assembly position of the penetrating tail lamp outer framework, and an automatic screw machine is started to carry out screw assembly;
s8: the master controller judges whether all assembly positions are assembled or not; if yes, go to step S9; otherwise, returning to the step S6;
s9: and the master controller controls the intelligent mechanical arm to return to the initial position and stop running, and the assembled penetrating type tail lamp outer framework is taken out from the penetrating type tail lamp processing clamp.
2. The processing control method of the penetrating tail lamp outer frame according to claim 1, wherein the automatic screw machine comprises a screwdriver (D521), a torque sensor, a photoelectric switch and a displacement sensor, the torque sensor is used for detecting the torque value of the screwdriver (D521), the displacement sensor is used for detecting the descending position of the screwdriver (D521), and the photoelectric switch is used for detecting whether the screw sucked by the screwdriver (D521) is in place;
the master controller is respectively connected with the electric screwdriver (D521), the torsion sensor, the photoelectric switch and the displacement sensor.
3. The method for processing and controlling the outer frame of the penetrating tail light as claimed in claim 2, wherein the step S6 is executed by the main controller to control each smart mechanical arm to move to the corresponding screw feeder to take out the screws:
presetting: setting a nail taking position of each group of intelligent mechanical arms corresponding to the automatic screw machine in the master controller;
s61: the main controller controls the intelligent mechanical arm to move the automatic screw machine to the screw feeding machine through the mechanical arm controller, and the position of the automatic screw machine is adjusted to enable the electric screwdriver (D521) to be aligned with the screw feeding machine;
s62: the master controller acquires the nail taking displacement data of the displacement sensor, compares the nail taking displacement data with the position data of a preset nail taking position, and judges whether the automatic screw machine is positioned at the preset nail taking position or not; if yes, go to step S63; otherwise, return to step S61;
s63: the master controller controls the intelligent mechanical arm to move downwards through the mechanical arm controller, so that the automatic screw machine can suck screws;
s64: the master controller acquires a photoelectric signal of the photoelectric switch and judges whether the screw sucked by the automatic screw machine is in place; if yes, go to step S65; otherwise, the process proceeds to step S66;
s65: the automatic screw machine sucks the screw to finish;
s66: and the master controller sends out a nail suction failure alarm signal, and controls the intelligent mechanical arm to return to the initial position and stop through the mechanical arm controller.
4. The processing control method for the outer frame of the penetrating tail light as claimed in claim 2, wherein the step S7 is executed by the main controller controlling the intelligent mechanical arm to move to the assembling position of the outer frame of the penetrating tail light, and the starting of the automatic screw machine for screw assembling is executed by:
presetting: setting a nail taking position of each group of intelligent mechanical arms corresponding to the automatic screw machine in the master controller; a fastening torque threshold value is set in the master controller;
s71: the main controller moves the automatic screw machine to a preset screw assembling position on the outer skeleton of the penetrating tail lamp through the intelligent mechanical arm;
s72: the master controller acquires the assembly position data of the displacement sensor, compares the assembly position data with the position data of the preset screw assembly position, and judges whether the electric screwdriver (D521) is positioned at the preset screw assembly position; if yes, go to step S73; otherwise, return to step S71;
s73: the master controller starts the electric screwdriver (D521) and performs screw assembly;
s74: the master controller acquires a torque value of the torque sensor, compares the torque value with a preset fastening torque threshold value, and judges whether a screw assembled by the electric screwdriver (D521) is fastened or not; if yes, go to step S75; otherwise, go to step S76;
s75: completing screw assembly and assembling the next preset screw assembly position;
s76: the main controller sends out a torsion fault alarm signal, and controls the intelligent mechanical arm to return to the initial position and stop through the mechanical arm controller.
5. The processing control method of the penetrating tail lamp exoskeleton of claim 1, wherein the end mount (21) comprises a mount body (a), the mount body (a) comprises a first side surface and a third side surface along a length direction, a second side surface and a fourth side surface along a width direction, a top surface and a bottom surface along a height direction, the top surface of the mount body (a) is provided with a clamping arc-shaped groove (a1), the clamping arc-shaped groove (a1) penetrates through the first side surface of the mount body (a) along the length direction of the mount body (a), and a notch of the clamping arc-shaped groove (a1) close to the first side surface is lower than a notch of the clamping arc-shaped groove (a1) close to the third side surface;
an arc-shaped bearing block (A2) extends out of the bottom of the clamping arc-shaped groove (A1) along the arc-shaped circle center direction of the clamping arc-shaped groove (A1), and the clamping arc-shaped groove (A1) is divided into a first mounting groove (B1) and a second mounting groove (B2) by the arc-shaped bearing block (A2);
a lamp holder limiting block (A3) extends from the top surface of the arc-shaped bearing block (A2) along the arc-shaped circle center direction of the clamping arc-shaped groove (A1), and the lamp holder limiting block (A3) is close to the first side surface of the mounting seat body (A);
the top of the middle supporting seat (22) is provided with a supporting groove, and the extending direction of the supporting groove is consistent with the extending direction of the clamping arc-shaped groove (A1);
the pressing end of the end pressing device (31) is positioned above the notch of the clamping arc-shaped groove (A1).
6. The method for controlling the machining of the outer frame of the tail lamp of the run-through type as set forth in claim 5, wherein the lamp holder fixture assembly further comprises a first auxiliary support seat (23) and a second auxiliary support seat (24), the first auxiliary support seat (23) and the second auxiliary support seat (24) are axially symmetrically installed at both sides of the middle support seat (22), the first auxiliary support seat (23) and the second auxiliary support seat (24) are located between the two end mounting seats (21) and are located on a straight line where the end mounting seats (21) and the middle support seat (22) are located;
the first auxiliary supporting seat (23) comprises a first side wall, a second side wall, a third side wall and a fourth side wall, the second auxiliary supporting seat (24) comprises a first side wall, a second side wall, a third side wall and a fourth side wall, auxiliary supporting grooves are formed in the tops of the first auxiliary supporting seat (23) and the second auxiliary supporting seat (24) along the direction of the clamping arc-shaped groove (A1), the auxiliary supporting groove of the first auxiliary supporting seat (23) penetrates through the first side wall surface and the second side wall of the first auxiliary supporting seat (23), and the auxiliary supporting groove of the second auxiliary supporting seat (24) penetrates through the first side wall and the second side wall of the second auxiliary supporting seat (24);
the pressing device combination further comprises a first auxiliary pressing device (32) and a second auxiliary pressing device (33), wherein the first auxiliary pressing device (32) and the second auxiliary pressing device (33) are correspondingly arranged on the periphery of the first auxiliary supporting seat (23) and the second auxiliary supporting seat (24) one by one; the pressing end of each first auxiliary pressing device (32) and each second auxiliary pressing device (33) is respectively positioned above the notches of the first auxiliary supporting seat (23) and the second auxiliary supporting seat (24);
the pressing end of the end pressing device (31) is provided with a pressure sensor, the pressing ends of the first auxiliary pressing device (32) and the second auxiliary pressing device (33) are provided with pressure sensors, and the master controller is connected with the pressure sensor of the end pressing device (31), the pressure sensor of the first auxiliary pressing device (32) and the pressure sensor of the second auxiliary pressing device (33) respectively.
7. The method for controlling the machining of the outer frame of the tail lamp of the pass-through type as claimed in claim 1, wherein an illumination mounting plate (D8) is installed on the top of the robot mounting frame (D4) along the length direction, and an illumination lamp (D9) is fixed on the side of the illumination mounting plate (D8) facing the assembly cabinet (D1).
8. The method for controlling the machining of the outer frame of the run-through taillight as set forth in claim 1, wherein the entire frame of the assembly cabinet (D1) is rectangular parallelepiped, the frame in the height direction is made of square steel tube, and the robot mount (D4) is formed by connecting a length-wise mount to the top of the square steel tube after the square steel tube is extended upward;
the top of any one square steel tube is provided with a connecting rod (D10), the connecting rod (D10) is connected with a display, and a connecting line of the display extends to the control chamber (D6) through the connecting rod (D10) and the square steel tube and is connected with the master controller.
9. The method for controlling the machining of the exoskeleton of the pass-through taillight as claimed in claim 1, wherein the deoiling filter installation control chamber (D7) is disposed near any one of the square steel pipes for installing a deoiling filter, and the power transmission line of the deoiling filter extends to the robot mounting frame (D4) through the adjacent square steel pipe.
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| CN202010653220.XA CN111922698B (en) | 2020-07-08 | 2020-07-08 | Processing control method of penetrating type tail lamp outer framework |
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| CN202010653220.XA CN111922698B (en) | 2020-07-08 | 2020-07-08 | Processing control method of penetrating type tail lamp outer framework |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002170A (en) * | 2016-07-29 | 2016-10-12 | 中山市鑫光智能系统有限公司 | Assembling device for blade-motor assembly |
| CN109500565A (en) * | 2018-12-03 | 2019-03-22 | 鸿城电子（上海）有限公司 | A kind of device and method of automatic assembling bracket |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109676592B (en) * | 2015-03-31 | 2022-03-29 | 佳能株式会社 | Automatic assembling method and automatic assembling equipment |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002170A (en) * | 2016-07-29 | 2016-10-12 | 中山市鑫光智能系统有限公司 | Assembling device for blade-motor assembly |
| CN109500565A (en) * | 2018-12-03 | 2019-03-22 | 鸿城电子（上海）有限公司 | A kind of device and method of automatic assembling bracket |
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