CN112548554A - Robot bolt tightening system integrating multi-sensing distance measurement - Google Patents
Robot bolt tightening system integrating multi-sensing distance measurement Download PDFInfo
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- CN112548554A CN112548554A CN202011509975.9A CN202011509975A CN112548554A CN 112548554 A CN112548554 A CN 112548554A CN 202011509975 A CN202011509975 A CN 202011509975A CN 112548554 A CN112548554 A CN 112548554A
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- bolt
- camera
- base
- robot
- bolt tightening
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
Abstract
The invention discloses a robot bolt tightening system integrating multi-sensing distance measurement, which comprises a base, wherein a bolt tightening mechanism is arranged on the base and comprises a servo motor, a speed reducer, a transmission shaft and a module tightening mechanism, the bolt tightening mechanism can provide driving force required by bolt tightening, and the module tightening mechanism can be selectively installed according to the type of a bolt; the base is provided with a bolt centering mechanism, the bolt centering mechanism comprises four distance measuring sensors and a distance measuring sensor information processing module, four current distance values are obtained by distance detection of the four distance measuring sensors, and compared with the four expected distance values in an expected posture, the posture of the current centering bolt tightening machine is adjusted to finish accurate centering of the bolt; the camera base is arranged on the base, a camera and a light source are fixed on the camera base, and the camera and the light source can acquire size information and position information of the bolt hole.
Description
Technical Field
The invention relates to an automatic assembly technology of a robot shaft hole, in particular to a robot bolt tightening system integrating multi-sensing distance measurement.
Background
The bolt connection is a common fixed connection method, has the characteristics of simple structure, reliable connection, convenient assembly and disassembly and the like, and is widely applied to various fields of automobiles, aerospace, large-scale electromechanical equipment and the like. At present, bolt connection work is mainly performed by manually tightening or tightening a bolt tightening machine fixed on one station. The mode of carrying out bolt tightening through artifical handheld various instruments, not only the work repetition rate is high, and production efficiency is low and bolt tightening precision and reliability are not high. The bolt tightening machine fixed on one station is used for tightening, and is usually designed only for assembling and tightening a specific product, so that the application object limitation is high, and the flexibility of a production line is low.
With the development of the robot technology, the automatic bolt tightening work by using the robot integration system is a key way for improving the product assembly quality and the production efficiency. The industrial robot assembly operation has the precision height, and the compliance is good and working range advantage such as big, adopts the end to be equipped with the industrial robot of bolt tightening machine and carries out bolt assembly maintenance work, both can effectively promote assembly quality and assembly work efficiency, also can greatly reduced artifical intensity of labour simultaneously.
Disclosure of Invention
The invention aims to solve the defects of the prior art, and provides a robot bolt tightening system integrating multi-sensing distance measurement,
in order to achieve the above object, according to one aspect of the present invention, there is provided a robot bolt tightening system integrating multi-sensing ranging, which implements digitalized and flexible bolt tightening assembly, wherein the robot bolt tightening system integrating multi-sensing ranging comprises a base, and a camera base is arranged on a frame;
the bolt tightening mechanism is screwed and fixed on the base and comprises a servo motor for providing driving torque, a speed reducer, a transmission shaft and a modular bolt clamping mechanism;
the bolt centering mechanism is fixed on the base and comprises four distance measuring sensors arranged on the periphery of the transmission shaft and a distance measuring sensor information processing module arranged below the speed reducer;
the image acquisition mechanism is fixed on the camera base and comprises a CCD camera and a camera visual light source.
One end of the speed reducer is connected with the servo motor, and the other end of the speed reducer is connected with the transmission shaft; the lower end of the transmission shaft is connected with the modular bolt clamping mechanism; the modular bolt clamping mechanism is internally provided with a permanent magnet which can adsorb bolts of the type corresponding to the modular bolt clamping mechanism.
The four distance measuring sensors are arranged on the same plane of the base, and included angles between every two adjacent distance measuring sensors are arranged in a ninety-degree manner; the upper part of the ranging sensor information processing module is connected with the speed reducer, and the lower part of the ranging sensor information processing module is connected with the base through the base plate.
The camera is fixed on the camera base, and the optical axis of the camera is parallel to the axis of the transmission shaft; the light source is positioned at the left lower part of the camera, and the axis of the light source and the optical axis of the camera are positioned on the same straight line.
According to the invention, the size information and the position information of the bolt hole are acquired through the camera and the light source, so that the modular bolt clamping mechanism corresponding to the assembled bolt is selected, and the accurate centering and screwing work of the bolt is realized under the accurate distance measurement of the four distance measurement sensors.
The invention also provides a control method of the robot bolt tightening system based on the integrated multi-sensing distance measurement, which comprises the following steps:
1) acquiring images of bolt holes needing to be screwed and assembled through a camera, processing and calculating the images, and acquiring size information and position information of the bolt holes;
2) selecting and installing a corresponding bolt clamping mechanism from a bolt clamping mechanism library according to the size information of the bolt hole;
3) the robot bolt tightening system integrating the multi-sensing distance measurement is driven by a robot, and the robot bolt tightening system integrating the multi-sensing distance measurement and clamping the bolt moves to the position above the bolt hole;
4) four distance measuring sensors arranged below the base are used for measuring the distance of the plane where the bolt hole is located at the current position and processing the distance to obtain four current distance values (d)1，d2，d3，d4)；
5) Four distance deviation values (Δ d) can be obtained compared to the four expected distance values at the expected attitude1，Δd2，Δd3，Δd4) Adjusting the posture of a bolt tightening system of the robot integrating the multi-sensing distance measurement at present to realize accurate alignment of a bolt and a bolt hole;
6) the servo motor drives the transmission shaft to rotate, and the robot drives the centering bolt tightening machine to feed the centering bolt tightening machine to the bolt hole in the normal direction, so that the bolt tightening work is completed.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the bolt tightening mechanism of the present invention.
Fig. 3 is a top view of the present invention.
Fig. 4 is a schematic structural diagram of an image capturing mechanism according to the present invention.
Detailed Description
Embodiments of the invention are further illustrated in the following description and drawings:
as shown in the figure, the invention discloses a robot bolt tightening system integrating multi-sensing ranging, which comprises a base 1, wherein a camera base 2 is arranged on a machine frame. The base is used for fixing the bolt tightening mechanism and the bolt centering mechanism on one hand, and is connected with a robot tail end flange on the other hand, and the camera base is used for fixing the image acquisition mechanism on the other hand.
The bolt tightening mechanism is screwed and fixed on the base 1 and comprises a servo motor 3 for providing driving torque, a speed reducer 4, a transmission shaft 5 and a modular bolt clamping mechanism 6;
the bolt centering mechanism is fixed on the base 1 and comprises four distance measuring sensors 8 which are arranged on the periphery of the transmission shaft 5 and can carry out accurate distance measurement and a distance measuring sensor information processing module 7 arranged below the speed reducer;
the image acquisition mechanism is fixed on the camera base and comprises a CCD camera 21 and a camera visual light source 22.
One end of the speed reducer 4 is connected with the servo motor 3 through four screws, the other end of the speed reducer is connected with the transmission shaft 5 through four screws, and the axes of the servo motor 3, the speed reducer 4 and the transmission shaft 5 are positioned on the same straight line when the servo motor, the speed reducer and the transmission shaft 5 are installed; the lower end of the transmission shaft 5 is connected with a modular bolt clamping mechanism 6; the module bolt clamping mechanism 6 is internally provided with a permanent magnet 61 which can adsorb a bolt opposite to the module bolt clamping mechanism. And designing corresponding module bolt clamping mechanisms aiming at bolts of different models, and clamping the bolts by replacing the corresponding bolt model module bolt clamping mechanisms 6 after determining the models of the bolts.
The four distance measuring sensors 9 are arranged on the same plane of the base, the distance measuring sensors 9 are positioned on the periphery of the transmission shaft 5, and an included angle between every two adjacent distance measuring sensors is arranged at ninety degrees; the upper part of the distance measuring sensor information processing module 7 is connected with the speed reducer through a screw, and the lower part of the distance measuring sensor information processing module is connected with the base 1 through a backing plate 8.
The camera 21 is fixed on the camera base 2, and the optical axis of the camera 21 is parallel to the axis of the transmission shaft 5; the light source 22 is positioned at the lower left of the camera 21, the light source 22 is fixed on the camera base 2 through a screw, and the axis of the light source 22 is positioned on the same straight line with the optical axis of the camera 21.
According to the invention, the size information and the position information of the bolt hole are accurately measured through the camera and the light source, the module bolt clamping mechanism required is determined, the robot drives the centering bolt tightening machine to reach the position above the bolt hole, the plane of the bolt hole is accurately measured through the four measuring sensors, the distance measuring information is subjected to information processing through the distance measuring sensor information processing module, and therefore, the posture of the centering bolt tightening machine is further adjusted, so that the clamped bolt can be accurately centered on the bolt hole, and the bolt tightening work is realized. According to the invention, the bolt tightening mechanisms of different models which can be replaced according to the models of bolts enable the assembling bolts to be more diversified, four distance measuring sensors which are fixed at the tail end of the base are used for measuring the distance, and the posture of the centering bolt tightening machine is further adjusted, so that the accurate centering of the bolts and the bolt holes is realized.
The invention also provides a control method based on the centering bolt tightening machine, which comprises the following specific steps:
1) acquiring images of bolt holes needing to be screwed and assembled through a camera, processing and calculating the images, and acquiring size information and position information of the bolt holes;
2) selecting and installing a corresponding bolt clamping mechanism from a bolt clamping mechanism library according to the size information of the bolt hole;
3) the robot drives the centering bolt tightening machine to move the integrated multi-sensing ranging robot bolt tightening system clamping the bolts to the position above the bolt holes;
4) four distance measuring sensors arranged below the base measure and process the distance of the plane where the bolt hole is located to obtain four current distance values (d)1，d2，d3，d4)；
5) Four distance deviation values (Δ d) can be obtained compared to the four expected distance values at the expected attitude1，Δd2，Δd3，Δd4) Adjusting the posture of the current integrated multi-sensing ranging robot bolt tightening system, and if the plane of the bolt hole is a plane, the expected distance value is d-d1＝d2＝d3＝d4>L (L is the total length of the bolt), if the plane of the bolt hole is a curved surface, the curved surface needs to be scanned by a three-dimensional scanner before assembly, and the curvatures (r) of the measuring points of the four distance measuring sensors are obtained1,r2,r3,r4) Then the four expected distance values are d1+r1＝d2+r2＝d3+r3＝d4+r4>L；
6) The servo motor drives the transmission shaft to rotate, and the robot drives the centering bolt tightening machine to feed the centering bolt tightening machine to the bolt hole in the normal direction, so that the bolt tightening work is completed.
The examples should not be construed as limiting the present invention, but any modifications made based on the spirit of the present invention should be within the scope of protection of the present invention.
Claims (5)
1. The utility model provides an integrated robot bolt system of screwing up of many sensing range finding which characterized in that: the robot bolt tightening system integrating the multi-sensing distance measurement comprises a base, wherein a camera base is arranged on a rack;
a bolt tightening mechanism is fixed on the base and comprises a servo motor for providing driving torque, a speed reducer, a transmission shaft and a modular bolt clamping mechanism;
the bolt centering mechanism comprises four distance measuring sensors arranged on the periphery of the transmission shaft and a distance measuring sensor information processing module arranged below the speed reducer;
the camera base on be fixed with image acquisition mechanism, image acquisition mechanism include CCD camera and camera vision light source.
2. The integrated multi-sensory ranging robot bolt tightening system according to claim 1, wherein: one end of the speed reducer is connected with the servo motor, and the other end of the speed reducer is connected with the transmission shaft; the lower end of the transmission shaft is connected with the modular bolt clamping mechanism; the modular bolt clamping mechanism is internally provided with a permanent magnet which can adsorb bolts of the type corresponding to the modular bolt clamping mechanism.
3. The integrated multi-sensory ranging robot bolt tightening system according to claim 1, wherein: the four distance measuring sensors are arranged on the same plane of the base, and included angles between every two adjacent distance measuring sensors are arranged in a ninety-degree manner; the upper part of the ranging sensor information processing module is connected with the speed reducer, and the lower part of the ranging sensor information processing module is connected with the base through the base plate.
4. The integrated multi-sensory ranging robot bolt tightening system according to claim 1, wherein: the camera is fixed on the camera base, and the optical axis of the camera is parallel to the axis of the transmission shaft; the light source is positioned at the left lower part of the camera, and the axis of the light source and the optical axis of the camera are positioned on the same straight line.
5. A control method of a robot bolt tightening system based on integrated multi-sensing ranging according to any one of claims 1 to 4, characterized in that: the method comprises the following steps:
1) acquiring images of bolt holes needing to be screwed and assembled through a camera, processing and calculating the images, and acquiring size information and position information of the bolt holes;
2) selecting and installing a corresponding bolt clamping mechanism from a bolt clamping mechanism library according to the size information of the bolt hole;
3) the robot bolt tightening system integrating the multi-sensing distance measurement is driven by a robot, and the robot bolt tightening system integrating the multi-sensing distance measurement and clamping the bolt moves to the position above the bolt hole;
4) four distance measuring sensors arranged below the base are used for measuring the distance of the plane where the bolt hole is located at the current position and processing the distance to obtain four current distance values (d)1，d2，d3，d4)；
5) Four distance deviation values (Δ d) are obtained compared to the four expected distance values at the expected attitude1，Δd2，Δd3，Δd4) Adjusting the posture of a bolt tightening system of the robot integrating the multi-sensing distance measurement at present to realize accurate alignment of a bolt and a bolt hole;
6) the servo motor drives the transmission shaft to rotate, and the robot drives the centering bolt tightening machine to feed the centering bolt tightening machine to the bolt hole in the normal direction, so that the bolt tightening work is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011509975.9A CN112548554A (en) | 2020-12-19 | 2020-12-19 | Robot bolt tightening system integrating multi-sensing distance measurement |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011509975.9A CN112548554A (en) | 2020-12-19 | 2020-12-19 | Robot bolt tightening system integrating multi-sensing distance measurement |
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| CN112548554A true CN112548554A (en) | 2021-03-26 |
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| CN202011509975.9A Pending CN112548554A (en) | 2020-12-19 | 2020-12-19 | Robot bolt tightening system integrating multi-sensing distance measurement |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113843614A (en) * | 2021-10-08 | 2021-12-28 | 北京工业大学 | Multi-plane bolt assembling device based on mixed vision |
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Application publication date: 20210326 |