CN112008390B - Self-correcting assembly butt joint system for attitude of air-float ball bearing - Google Patents

Abstract

The present invention is an air-floating ball bearing posture self-correction assembly docking system, comprising a posture regulating device (3), an auxiliary supporting device (5), and is characterized in that it further comprises a posture measuring camera (1) and a measuring console ( 6), the pose measurement camera (1) is fixed on the support base (11) of the pose control device (3) through a bracket; an active assembly component (2) is placed on the pose control device (3), and the auxiliary support device (5) ) on top of the passive assembly component (4); the camera of the pose measurement camera (1) faces the active assembly component (2) and the passive assembly component (4); the active assembly component (2) and the passive assembly component (4) are in advance The positioning target is installed; the invention adopts the air-floating ball bearing as the supporting structure, and the stability of the platform is improved by increasing the counterweight. Due to the small frictional force of the air-floating ball bearing, the flexibility of the three degrees of freedom of the posture during the assembly process is guaranteed.

Description

Self-correction assembly and docking system of air-floating ball bearing

technical field

The invention relates to a self-correcting assembling and docking system of Yizhong air-floating ball bearing, which relates to the technical field of digital assembly, and completes the assembly of two or more non-standard product components based on a set of digital assembly system.

Background technique

At present, for large-scale non-standard products, a large number of assembly methods are mainly manual assembly, and the level of automation and flexibility is low. Assembly technology still relies on the engineering experience of craftsmen and heavy machinery and equipment, and the entire operation process is too limited by the staff. If the individual skill level of the product is high, the traditional assembly method is incompetent if the assembly precision of the product is high. In order to solve this problem, the method used in the assembly of some foreign advanced products is a high-precision six-degree-of-freedom assembly docking system, but this method has high requirements on the accuracy of machining and the accuracy of pose measurement, so the cost is high and High difficulty.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an air-floating ball bearing posture self-correction assembly and docking system, so as to solve the problems of low assembly precision, poor efficiency and poor flexibility of traditional large-scale products.

An air-floating ball bearing posture self-correction assembly and docking system, comprising a posture regulating device 3 and an auxiliary supporting device 5, and is characterized in that it also includes a posture measuring camera 1 and a measuring console 6, and the posture measuring camera 1 is fixed by a bracket On the support base 11 of the pose control device 3; the active assembly component 2 is placed on the pose control device 3, and the passive assembly component 4 is placed on the auxiliary support device 5; the camera of the pose measurement camera 1 faces the active assembly component 2 and the passive assembly component 4. Assembly component 4; positioning targets are installed in advance on the active assembly component 2 and passive assembly component 4; the pose measurement camera 1 and the pose control device 3 are respectively connected to the data I/O card on the industrial computer in the measurement console 6 through an information transmission cable , the data I/O card is used to send the instruction of the measurement console 6 to the pose control device 3 and to receive the information captured by the pose measurement camera 1 to the measurement console 6, and the measurement console 6 calculates the position according to the captured information The direction and distance that the posture control device 3 needs to move, and send an instruction through the data I/O card to instruct the posture control device 3 to move and adjust the position of the active assembly component 2;

The posture control device 3 includes a support mechanism, a lift adjustment mechanism, a plane two-dimensional movement adjustment mechanism and a support base 11; wherein, the plane two-dimensional movement adjustment mechanism is installed on the support base 11, and the lift adjustment mechanism is slidably installed on the plane two. On the dimensional movement adjustment mechanism, the support mechanism is fixedly installed on the lift adjustment machine;

The supporting mechanism includes a supporting platform 7, an air-floating ball bearing 12 and an air-floating ball socket 13. The air-floating ball bearing 12 and the air-floating ball socket 13 are located under the supporting platform 7, and the supporting platform 7 is fixedly connected with the air-floating ball bearing 12. The ball bearing 12 is installed in the air flotation ball socket 13 and can slide in the air flotation ball socket 13. Four limit protectors 18 are evenly distributed on the inner edge of the air flotation ball socket 13; Mechanism; the active assembly assembly 2 is placed on the support platform 7 .

The plane two-dimensional movement adjustment mechanism includes a lateral adjustment mechanism and a docking drive adjustment mechanism; the lateral adjustment mechanism includes two sets of linear guide rails 10, a set of lateral movement components 15 and a lateral drive motor 19, which are driven by the lateral drive motor 19 during operation. The screw drive mechanism on the lateral movement assembly 15 drives the lateral movement assembly 15 to move laterally along the linear guide rail 10, thereby causing the active assembly assembly 2 to move laterally; the docking drive mechanism includes a longitudinal drive assembly 17, two sets of longitudinal movement assemblies 16 and a longitudinal drive motor 20. The longitudinal drive assembly 17 inputs the output of the longitudinal drive motor 20 to the longitudinal movement assembly 16 after passing through the reducer and the commutator; during operation, the two sets of longitudinal movement assemblies 16 are driven by the screw drive mechanism of the longitudinal movement assembly 16 along the docking The direction moves, so that the active assembly component 2 is displaced longitudinally.

The lifting adjustment mechanism of the posture control device 3 includes a scissor lift 9 and a lift drive motor 14. The upper and lower connecting plates of the scissor lift 9 are respectively connected with the air-floating ball socket 13 and the plane two-dimensional movement adjustment mechanism. The scissor lift 9 is driven by the elevating drive motor 14 to adjust the vertical height of the supporting platform 7 as a whole, thereby adjusting the height of the active assembly assembly 2 .

The edge of the lower surface of the support platform 7 is evenly connected with four counterweights 8 , so that the overall center of gravity of the active assembly 2 , the support platform 7 and the counterweight 8 is below the air-floating ball bearing 12 .

beneficial effect

1. The present invention realizes the three-degree-of-freedom position adjustment of the active docking assembly through the two-dimensional movement adjustment mechanism and the lift adjustment mechanism.

2. The air-floating ball bearing is used as the supporting structure, and the stability of the platform is improved by increasing the counterweight.

3. Due to the small frictional force of the air-floating ball bearing, the flexibility of the three degrees of freedom of the posture during the assembly process is guaranteed.

4. Obtain the position and attitude information of the assembly components in real time based on the machine vision measurement system, send the measurement data to the control system, and generate position control instructions according to the position servo control technology, thereby realizing the automatic assembly of the product.

The present invention has the following characteristics: 1) the system can assemble a variety of products; 2) the system can easily reconfigure the hardware and software of the system to assemble new products; 3) the system can dynamically respond to planned and unplanned assembly processes; 4) The system is easy to reorganize, set up and change the assembly process.

The air-floating ball bearing support technology is mainly used to realize the three-degree-of-freedom frictionless rolling of the active assembly part of the product. In this way, by ensuring the flexibility of the three degrees of freedom of the posture during the assembly process, the flexible adaptability of the assembly system in terms of the three degrees of freedom of the posture is realized.

Vision measurement technology is mainly used to measure the position and attitude of assembled products, including the position and attitude measurement of active assembly components and the position and attitude measurement of passive assembly components. When the product is assembled, an optical target is set on its surface, and the target consists of several optical targets. The camera is used externally to measure the pose of the target to obtain the pose of the product.

Position servo control technology is mainly used to adjust the position of product components to realize fully automatic flexible assembly of large mechanical products. The two-dimensional movement adjustment mechanism is adopted to realize the position adjustment of the two degrees of freedom of the components in the horizontal plane; the lift adjustment mechanism is adopted to drive the scissor lift through the driving motor to realize the height adjustment of the degrees of freedom of the components in the vertical direction. In the control process, the visual measurement information is used as the feedback, and the flexible adaptability of the air-floating ball bearing in the three degrees of freedom of attitude is used to realize the assembly of full degrees of freedom by adjusting the position of the components.

Description of drawings

Fig. 1, the working process schematic diagram of the present invention;

Fig. 2, the structural schematic diagram of the position and attitude control device 3 of the present invention;

Figure 3, Figure 2 left view;

FIG. 4 is a schematic structural diagram of the posture control device 3 of the present invention.

Among them, 1 is a pose measurement camera, 2 is an active assembly component, 3 is a pose control device, 4 is a passive assembly component, 5 is an auxiliary support device, 6 is a measurement console, 7 is a support platform, and 8 is a counterweight, 9 is a scissor lift, 10 is a linear guide rail, 11 is a support base, 12 is an air-floating ball bearing, 13 is an air-floating ball socket, 14 is a lift drive motor, 15 is a lateral moving component, 16 is a longitudinal moving component, and 17 is a Longitudinal drive assembly, 18 is a limit protector, 19 is a transverse drive motor, and 20 is a longitudinal drive motor.

Detailed ways

An air-floating ball bearing posture self-correction assembly and docking system, comprising a posture regulating device 3 and an auxiliary supporting device 5, and is characterized in that it also includes a posture measuring camera 1 and a measuring console 6, and the posture measuring camera 1 is fixed by a bracket On the support base 11 of the pose control device 3; the active assembly component 2 is placed on the pose control device 3, and the passive assembly component 4 is placed on the auxiliary support device 5; the camera of the pose measurement camera 1 faces the active assembly component 2 and the passive assembly component 4. Assembly component 4; positioning targets are installed in advance on the active assembly component 2 and passive assembly component 4; the pose measurement camera 1 and the pose control device 3 are respectively connected to the data I/O card on the industrial computer in the measurement console 6 through an information transmission cable , the data I/O card is used to send the instruction of the measurement console 6 to the pose control device 3 and to receive the information captured by the pose measurement camera 1 to the measurement console 6, and the measurement console 6 calculates the position according to the captured information The direction and distance that the posture control device 3 needs to move, and send an instruction through the data I/O card to instruct the posture control device 3 to move and adjust the position of the active assembly component 2;

The posture control device 3 includes a support mechanism, a lift adjustment mechanism, a plane two-dimensional movement adjustment mechanism, and a support base 11; wherein, the plane two-dimensional movement adjustment mechanism is installed on the support base 11, and the lift adjustment mechanism is slidably installed on the plane two. On the dimensional movement adjustment mechanism, the support mechanism is fixedly installed on the lift adjustment machine;

The supporting mechanism includes a supporting platform 7, an air-floating ball bearing 12 and an air-floating ball socket 13. The air-floating ball bearing 12 and the air-floating ball socket 13 are located under the supporting platform 7, and the supporting platform 7 is fixedly connected with the air-floating ball bearing 12. The ball bearing 12 is installed in the air flotation ball socket 13 and can slide in the air flotation ball socket 13. Four limit protectors 18 are evenly distributed on the inner edge of the air flotation ball socket 13; Mechanism; the active assembly assembly 2 is placed on the support platform 7 .

The plane two-dimensional movement adjustment mechanism includes a lateral adjustment mechanism and a docking drive adjustment mechanism; the lateral adjustment mechanism includes two sets of linear guide rails 10, a set of lateral movement components 15 and a lateral drive motor 19, which are driven by the lateral drive motor 19 during operation. The screw drive mechanism on the lateral movement assembly 15 drives the lateral movement assembly 15 to move laterally along the linear guide rail 10, thereby causing the active assembly assembly 2 to move laterally; the docking drive mechanism includes a longitudinal drive assembly 17, two sets of longitudinal movement assemblies 16 and a longitudinal drive motor 20. The longitudinal drive assembly 17 inputs the output of the longitudinal drive motor 20 to the longitudinal movement assembly 16 after passing through the reducer and the commutator; during operation, the two sets of longitudinal movement assemblies 16 are driven by the screw drive mechanism of the longitudinal movement assembly 16 along the docking The direction moves, so that the active assembly component 2 is displaced longitudinally.

The lifting adjustment mechanism of the posture control device 3 includes a scissor lift 9 and a lift drive motor 14. The upper and lower connecting plates of the scissor lift 9 are respectively connected with the air-floating ball socket 13 and the plane two-dimensional movement adjustment mechanism. The scissor lift 9 is driven by the elevating drive motor 14 to adjust the vertical height of the supporting platform 7 as a whole, thereby adjusting the height of the active assembly assembly 2 .

The edge of the lower surface of the support platform 7 is evenly connected with four counterweights 8 , so that the overall center of gravity of the active assembly 2 , the support platform 7 and the counterweight 8 is below the air-floating ball bearing 12 .

The invention will be described in detail below with reference to the accompanying drawings.

As shown in Figure 1, the mentioned air-floating ball bearing posture self-correction assembly and docking system is used to realize the fast and accurate assembly and docking of the active assembly component 2 and the passive assembly component 4 of large non-standard products. For pose measurement of passive assembly components, positioning targets must be installed on the active and passive components in advance.

The whole system consists of a pose measurement camera 1, a pose control device 3, an auxiliary support device 5, and a measurement console 6 and other parts.

The pose measurement camera 1 is fixedly placed at the product docking station through a bracket to ensure that the positioning targets on the active and passive components are within the field of view of the pose measurement camera. The posture control device 3 is used to support the active assembly components of the product, and adjust the posture and posture of the active assembly components according to the instructions given by the measurement console 6 . The auxiliary support device 5 is used to support the passive assembly components of the product, and this part is a simple support platform structure, which remains stationary during the docking assembly process. The measurement console 6 is used for data acquisition, processing and control of the entire docking system, and is mainly composed of an industrial computer, an electrical control device and control software. 3. The relevant actuators send attitude adjustment instructions.

The core part of the self-correcting assembly and docking system of the air-floating ball bearing provided by the present invention is the posture regulating device 3, as shown in Figures 2, 3 and 4, the posture regulating device 3 is mainly composed of a supporting platform 7, a counterweight 8. Scissor lift 9, linear guide 10, support base 11, air-floating ball bearing 12, air-floating ball socket 13, lift drive motor 14, lateral movement assembly 15, longitudinal movement assembly 16, longitudinal drive assembly 17, limit protection It is composed of the actuator 18 , the transverse drive motor 19 and the longitudinal drive motor 20 .

The support platform 7 is used to support the active assembly assembly 2 for fixing the product, and the support structure form can be designed according to the product structure. The air flotation ball bearing 12 and the air flotation ball socket 13 are located below the support platform 7, and the support platform 7 and the air flotation ball bearing 12 are fixed together by bolts. The flexibility and adaptability of three degrees of freedom in attitude. The limit protector 18 is a purely mechanical limit block, there are four in total, which are respectively installed in the four directions of 0°, 90°, 180°, and 270° of the air flotation ball socket 13, and the air flotation is limited by the mechanical limit. The rolling amount of the ball bearing 12 ensures the safety of the support platform 7 during posture changes. The counterweight 8 is installed on the lower part of the support platform 7 and extends below the air-floating ball bearing 12. By adjusting the weight of the counterweight 8, the overall center of gravity of the active assembly assembly 2, the supporting platform 7 and the counterweight 8 is located in the air-floating ball bearing 12. In the following, the posture stability of the support platform 7 and the product is ensured.

The lift adjustment mechanism of the posture control device 3 includes a scissor lift 9 and a lift drive motor 14. The upper and lower connecting plates of the scissor lift 9 are respectively connected with the air-floating ball socket 13 and the plane two-dimensional movement adjustment mechanism, and are driven by the lift drive motor 14. The scissor lift 9 can adjust the vertical height of the supporting platform 7 as a whole, so as to realize the adjustment function of the height direction of the active assembly assembly 2 .

The plane two-dimensional movement adjustment mechanism includes a lateral adjustment mechanism and a docking drive adjustment mechanism. The lateral adjustment mechanism includes two sets of linear guide rails 10 , a set of lateral movement components 15 and a lateral drive motor 19 . The screw drive mechanism on the lateral movement assembly 15 is driven by the lateral drive motor 19 to drive the entire device to move laterally along the linear guide rail 10 , so as to realize the adjustment function of the lateral displacement of the active assembly assembly 2 . The docking drive mechanism includes a longitudinal drive assembly 17, two sets of longitudinal movement assemblies 16 and a longitudinal drive motor 20. The longitudinal drive assembly 17 inputs the output of the longitudinal drive motor 20 to the longitudinal movement assembly 16 after passing through a reducer and a commutator. The screw drive mechanism of the assembly 16 can realize the movement of the entire device along the docking direction, and realize the adjustment function of the longitudinal displacement of the active assembly assembly 2 .

The above-mentioned combined adjustment of the air-floating ball bearing, the lifting adjustment mechanism, and the plane two-dimensional movement adjustment mechanism of the position and attitude control device 3 can realize the six-degree-of-freedom position and attitude adjustment of the active assembly component 2 during the assembly and docking process.

The use process of the self-correcting assembly docking system of the air-floating ball bearing provided by the present invention is as follows:

The active assembly component 2 and the passive assembly component 4 of the product are respectively supported and fixed on the supporting platform of the position and attitude control device 3 and the auxiliary support device 5 of the assembly docking system. The pose is measured and sent to the measurement console 6. The measurement console 6 obtains the corresponding position control by calculating the relative pose information between the two and according to the adaptability of the three degrees of freedom of the attitude of the air-floating ball bearing 12. The command is sent to the pose control device 3 to drive the corresponding plane two-dimensional movement adjustment mechanism and the lift adjustment mechanism, and in the final stage of the docking, the self-correction of the attitude of the product active assembly component 2 is realized through the self-adaptation of the attitude of the air-floating ball bearing 12, So as to realize the automatic assembly and docking of products. During the entire docking process, the pose measurement camera 1 and the pose control device 3 form a measurement-adjustment closed-loop system.

The invention provides an air-floating ball bearing posture self-correcting assembly and docking system. In the industrial field, the assembly of large non-standard products usually relies on manual adjustment, which is inefficient and difficult to guarantee the assembly quality. However, the present invention is based on the air-floating ball bearing support technology, aiming at the assembly of large-scale non-standard product components in industrial production, and proposes an air-floating ball bearing posture self-correcting assembly and docking method, which improves the assembly accuracy and assembly flexibility compared with the existing method. while speeding up the assembly speed.

The invention can realize the assembly and docking method of large-scale non-standard product components with posture self-correction. The invention relates to the technical field of digital assembly, and is based on a technology of completing the assembly of two or more non-standard product components based on a set of digital assembly systems, thereby improving the assembly efficiency and assembly quality of products. The system involves air-floating ball bearing support technology, visual measurement technology and pose servo control technology. In the industrial field, the assembly of large non-standard products usually relies on manual adjustment, which is inefficient and difficult to guarantee the assembly quality; or the traditional mechanical method is used for fully automated docking, and the docking quality depends entirely on the measurement accuracy of the sensor, and cannot be guaranteed due to sensor measurement errors. Safety issues during the docking process. The system uses the air-floating ball bearing to support the bracket, and realizes the adaptive adjustment of the posture of the active docking assembly with three degrees of freedom. Based on the machine vision measurement system, the position and attitude information of the assembly components are acquired in real time, and the measurement data is sent to the control system to generate position control instructions.

The invention improves the assembly efficiency and assembly quality of the product. The invention uses the air-floating ball bearing type support technology, the visual measurement technology and the position servo control technology.

The invention adopts the air-floating ball bearing to support, and can realize the assembly and docking method of large-scale non-standard product components with self-correction of attitude. The invention relates to the technical field of digital assembly, and is based on a technology of completing the assembly of two or more non-standard product components based on a set of digital assembly systems, thereby improving the assembly efficiency and assembly quality of products. The system involves air-floating ball bearing support technology, visual measurement technology and pose servo control technology. In the industrial field, the assembly of large non-standard products usually relies on manual adjustment, which is inefficient and difficult to guarantee the assembly quality; or the traditional mechanical method is used for fully automated docking, and the docking quality depends entirely on the measurement accuracy of the sensor, and cannot be guaranteed due to sensor measurement errors. Safety issues during the docking process. The system uses the air-floating ball bearing to support the bracket, and realizes the adaptive adjustment of the posture of the active docking assembly with three degrees of freedom. Based on the machine vision measurement system, the position and attitude information of the assembly components are obtained in real time, and the measurement data is sent to the control system to generate position control instructions.

Claims (2)

1. An air-float ball bearing posture self-correction assembly docking system comprises a posture regulating and controlling device (3) and an auxiliary supporting device (5), and is characterized by further comprising a posture measuring camera (1) and a measuring control console (6), wherein the posture measuring camera (1) is fixed on a supporting base (11) of the posture regulating and controlling device (3) through a support; an active assembly component (2) is placed on the pose adjusting and controlling device (3), and a passive assembly component (4) is placed on the auxiliary supporting device (5); a camera of the pose measurement camera (1) faces the active assembly component (2) and the passive assembly component (4); the active assembly component (2) and the passive assembly component (4) are lifted forwards to install positioning targets; the pose measurement camera (1) and the pose regulation and control device (3) are respectively connected with a data I/O card on a tool control machine in a measurement control console (6) through information transmission cables, the data I/O card is used for sending an instruction of the measurement control console (6) to the pose regulation and control device (3) and receiving information shot by the pose measurement camera (1) to the measurement control console (6), the measurement control console (6) calculates the direction and distance of the pose regulation and control device (3) to be moved according to the shot information, and the data I/O card sends the instruction to instruct the pose regulation and control device (3) to move and regulate the position of the active assembly component (2);

the pose adjusting and controlling device (3) comprises a supporting mechanism, a lifting adjusting mechanism, a plane two-dimensional movement adjusting mechanism and a supporting base (11); the planar two-dimensional movement adjusting mechanism is arranged on a supporting base (11), the lifting adjusting mechanism is arranged on the planar two-dimensional movement adjusting mechanism in a sliding mode, and the supporting mechanism is fixedly arranged on the lifting adjusting machine;

the supporting mechanism comprises a supporting platform (7), an air-float ball bearing (12) and an air-float ball socket (13), the air-float ball bearing (12) and the air-float ball socket (13) are positioned below the supporting platform (7), the supporting platform (7) is fixedly connected with the air-float ball bearing (12), the air-float ball bearing (12) is installed in the air-float ball socket (13) and can slide in the air-float ball socket (13), and 4 limit protectors (18) are uniformly distributed at the inner edge of the air-float ball socket (13); the lower part of the air-float ball socket (13) is connected with a lifting adjusting mechanism; the active assembly component (2) is arranged on the supporting platform (7);

the planar two-dimensional movement adjusting mechanism comprises a transverse adjusting mechanism and a butt joint driving adjusting mechanism; the transverse adjusting mechanism comprises two sets of linear guide rails (10), a set of transverse moving components (15) and a transverse driving motor (19), and when the transverse adjusting mechanism works, the transverse driving motor (19) drives a screw rod transmission mechanism on the transverse moving components (15) to drive the transverse moving components (15) to transversely move along the linear guide rails (10), so that the active assembling components (2) transversely move; the butt joint driving mechanism comprises a longitudinal driving component (17), two sets of longitudinal moving components (16) and a longitudinal driving motor (20), wherein the longitudinal driving component (17) inputs the output of the longitudinal driving motor (20) to the longitudinal moving components (16) after passing through a speed reducer and a commutator; when the device works, the two sets of longitudinal moving assemblies (16) are driven by the screw rod transmission mechanism of the longitudinal moving assembly (16) to move along the butt joint direction, so that the active assembling assembly (2) longitudinally displaces;

the edge of the lower surface of the supporting platform (7) is uniformly connected with 4 counter weights (8), so that the overall gravity center of the active assembly component (2), the supporting platform (7) and the counter weights (8) is below the air-float ball bearing (12).

2. The self-correcting attitude assembly docking system for the air-bearing ball bearings is characterized in that a lifting adjusting mechanism of the attitude adjusting and controlling device (3) comprises a scissor type lifter (9) and a lifting driving motor (14), an upper connecting plate and a lower connecting plate of the scissor type lifter (9) are respectively connected with an air-bearing ball socket (13) and a planar two-dimensional movement adjusting mechanism, and when the self-correcting attitude assembly docking system works, the scissor type lifter (9) is driven by the lifting driving motor (14) to adjust the vertical height of the whole supporting platform (7), so that the height of the active assembly component (2) is adjusted.

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