CN112975331A - Automatic assembly equipment for balance shaft of heavy truck - Google Patents
Automatic assembly equipment for balance shaft of heavy truck Download PDFInfo
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- CN112975331A CN112975331A CN202110314691.2A CN202110314691A CN112975331A CN 112975331 A CN112975331 A CN 112975331A CN 202110314691 A CN202110314691 A CN 202110314691A CN 112975331 A CN112975331 A CN 112975331A
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- robot
- balance shaft
- line body
- shaft
- assembling
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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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- Mechanical Engineering (AREA)
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Abstract
The invention discloses automatic assembling equipment for a balance shaft of a heavy truck, wherein a robot base and a robot are fixedly installed through a sliding mechanism and a fixing mechanism, so that on one hand, the defect that the self arm of a cooperative robot is too short to be unfolded can be overcome through the sliding mechanism, the robot slides on the sliding mechanism integrally, the working range is greatly enlarged, and on the other hand, a robot body and the fixing mechanism are fixedly installed, so that the robot is convenient to disassemble and maintain a mechanical arm; automatic assembly of the balance shaft is performed by adopting automatic equipment instead of manual assembly, so that the labor cost is saved, and the working efficiency is improved; by adopting the visual positioning guide technology, the characteristic holes of the mounting positions are positioned and the related position information is transmitted to the assembly robot before the balance shaft is mounted, the assembly robot is guided to assemble the balance shaft, the position deviation of the conveying line body and the frame can be compensated to a certain extent, and the assembly accuracy is ensured.
Description
Technical Field
The invention relates to the technical field of vehicle assembly, in particular to automatic assembly equipment for a balance shaft of a heavy truck.
Background
The assembly of automobile products is one of the most important technological links in the manufacturing process of automobile products, and is a technological process of assembling hundreds or thousands of qualified various parts into finished automobile, engine, transmission and other assemblies according to certain technical requirements.
When the heavy truck is assembled, the heavy truck is large in specification and size, the assembly work of heavy components such as a balance shaft and the like is usually completed through manual operation of lifting equipment, the balance shaft is about 200kg in weight and irregular in shape, an assembler needs to fix the balance shaft through a special lifting appliance, then the balance shaft is transported to the position near a frame through the lifting equipment and is installed after being aligned with a mounting hole on the frame, the whole balance shaft assembly operation has certain danger, the risk that the balance shaft falls off exists, the manual assembly consumes a long time, and the working efficiency of the whole assembly line is influenced.
Disclosure of Invention
The invention aims to provide automatic assembling equipment for a balance shaft of a heavy truck, which solves the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic assembling device for a balance shaft of a heavy truck comprises a conveying line body, a balance shaft placing rack and a seventh shaft walking track of a robot;
the conveying line body is used for conveying a truck frame;
the balance shaft placing rack is arranged on one side of the conveying line body and used for storing balance shafts;
the robot seventh-axis walking rails are symmetrically arranged on two sides of the conveying line body, and an assembling robot and a visual positioning guiding robot are arranged on the robot seventh-axis walking rails on each side in a sliding mode and used for assembling the balance shaft on the truck frame.
Particularly, a plurality of part material racks are arranged on the outer side of the seventh axis walking track of the robot and used for storing and assembling required parts.
Particularly, the conveying line body is a friction chain trolley.
Particularly, the outside of equipment is equipped with safety fence, the last a plurality of emergency exits that are equipped with of safety fence.
Particularly, the robot assembly system further comprises a control system, wherein the control system is respectively in humanized connection with the conveyor line body, the assembly robot and the vision positioning guide robot and is used for controlling the operation of equipment.
Specifically, the assembling method of the equipment comprises the following specific steps:
s1, finishing the previous process, enabling the truck frame to fall on a friction trolley of the conveyor line body, and keeping the conveyor line body still;
s2, the vision positioning guide robot receives a signal that the previous process is finished, the vision positioning guide robot on the two sides of the conveying line body moves to the position where the balance shaft is installed on the truck frame through the seventh shaft walking track, the balance shaft installation hole in the truck frame is photographed, the space position coordinate information of the installation hole is recognized, information such as the position characteristics of the installation hole is sent to the assembling robot, and the vision positioning guide robot returns to the initial position;
s3, after receiving the information of the mounting holes, the two assembly robots on the two sides of the conveying line body move to the positions of the balance shaft storage racks through the seventh shaft walking rails, grab the balance shafts, move to the positions of the truck frames where the balance shafts are mounted through the seventh shaft walking rails, and mount the balance shafts on the two sides on the truck frames respectively according to mounting requirements;
and S4, after the balance shaft is assembled, returning the assembling robot to the initial position, and completing the working cycle.
Compared with the prior art, the invention has the beneficial effects that:
(1) the robot base and the robot are fixedly installed through the sliding mechanism and the fixing mechanism, so that on one hand, the defect that the self arm of the cooperative robot is too short can be overcome through the sliding mechanism, the robot slides on the sliding mechanism integrally, the working range is greatly enlarged, on the other hand, the robot body and the fixing mechanism are fixedly installed, the disassembly is convenient, and the maintenance of the mechanical arm is convenient;
(2) automatic assembly of the balance shaft is performed by adopting automatic equipment instead of manual assembly, so that the labor cost is saved, and the working efficiency is improved;
(3) by adopting the visual positioning guide technology, the characteristic holes of the mounting positions are positioned and the related position information is transmitted to the assembly robot before the balance shaft is mounted, the assembly robot is guided to assemble the balance shaft, the position deviation of the conveying line body and the frame can be compensated to a certain extent, and the assembly accuracy is ensured.
Drawings
Fig. 1 is a schematic top view of the present invention.
In the figure: 1-assembling a robot, 2-vision positioning guide robot, 3-robot seventh shaft walking track, 4-conveying line body, 5-truck frame, 6-balance shaft, 7-safety fence and 8-safety door.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a technical solution: an automatic assembling device for a balance shaft of a heavy truck comprises a conveying line body 4, a balance shaft placing rack and a seventh shaft walking track 3 of a robot;
the conveying line body 4 is used for conveying the truck frame 5;
the balance shaft placing rack is arranged on one side of the conveying line body 4 and used for storing the balance shaft 6;
the seventh walking track 3 of robot sets up in the both sides of transfer line body 4 symmetrically, all slides on the seventh walking track 3 of robot of every side and is provided with assembly robot 1 and vision positioning guide robot 2 for assemble balance shaft 6 on truck frame 5.
Specifically, the outer side of the seventh axis walking track 3 of the robot is provided with a plurality of part racks for storing parts required for assembly.
Specifically, the conveyor line body 4 is specifically a friction chain trolley.
Specifically, the outside of equipment is equipped with security fence 7, is equipped with a plurality of emergency exits 8 on the security fence 7.
Specifically, the robot system further comprises a control system, wherein the control system is an industrial computer, and the control system is respectively electrically connected with the conveyor line body 4, the assembling robot 1 and the visual positioning guiding robot 2 and used for controlling the operation of equipment.
Specifically, the assembling method of the equipment comprises the following specific steps:
s1, finishing the previous process, enabling the truck frame 5 to fall on the friction trolley of the conveyor line body 4, and keeping the conveyor line body 4 still;
s2, the vision positioning guide robot 2 receives a signal of the completion of the previous process, the vision positioning guide robot 2 on the two sides of the conveying line body 4 moves to the position where the balance shaft is installed on the truck frame 5 through the seventh shaft traveling rail 3, the balance shaft installation hole on the truck frame 5 is photographed, the spatial position coordinate information of the installation hole is recognized, information such as the position characteristic of the installation hole is sent to the assembling robot 1, and the vision positioning guide robot 2 returns to the initial position;
s3, after receiving the information of the mounting holes, the two assembly robots 1 on the two sides of the conveyor line body 4 move to the positions of the balance shaft storage racks through the seventh shaft travelling rails 3, grab the balance shafts 6, move to the positions of the truck frames 5 where the balance shafts are mounted through the seventh shaft travelling rails 3, and mount the balance shafts 6 on the two sides onto the truck frames 5 respectively according to mounting requirements;
s4, after the balance shaft is assembled, the assembling robot 2 returns to the initial position, the work cycle is completed,
heavy truck balance shaft automatic assembly equipment comprises a seventh shaft walking track 3 of a robot, the track is fixed on the ground of a workshop, bases of an assembly robot 1 and a visual positioning guide robot 2 are matched with the track, the robot can conveniently move on the walking track, so that the working radius of the robot is increased, a conveying line body 5 is arranged in the middle of the whole set of equipment, the conveying line body is in the form of a friction chain trolley, the friction trolley is driven to move forward by driving clicks at the end part, a truck frame 6 is placed on the friction trolley and is conveyed by the conveying line body, two balance shafts which need to be installed on the truck frame are placed on a logistics rack, the assembly robot 1 adopts a six-shaft industrial robot, a sixth shaft at the tail end of the robot is provided with a special clamp for grabbing the balance shafts, the visual positioning guide robot 2 adopts a six-shaft industrial robot, a sixth shaft at the tail end of the robot is provided with a visual camera capable of conducting visual positioning guide assembly operation by the assembly, for the security of guaranteeing industrial robot working process, set up security fence around this station, set up the emergency exit in the position of spare part business turn over, the logistics distribution of being convenient for. The assembling method comprises the following steps: after the previous process is finished, the truck frame falls on the conveying line body friction trolley, and the conveying line body is kept still; the visual positioning guiding robot receives a signal of the completion of the previous process, the visual positioning guiding robots on the two sides of the conveying line body move to the mounting positions of the balance shafts on the truck frame through the seventh shaft walking track, the mounting holes of the balance shafts on the frame are photographed, the spatial position coordinate information of the mounting holes is recognized, information such as the position characteristics of the mounting holes is sent to the assembling robot 1, and the visual positioning guiding robots return to the initial positions; 3. after receiving the mounting hole information, the two assembly robots 1 on the two sides of the conveying line body move to the positions of the balance shaft storage racks through the seventh shaft walking rails, grab the balance shafts, then move to the positions of the truck frames where the balance shafts are mounted through the seventh shaft walking rails, and mount the balance shafts on the two sides on the truck frames respectively according to mounting requirements; after the balance shaft assembly is completed, the assembly robot 1 returns to the initial position, completing the work cycle.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The automatic assembling equipment for the balance shaft of the heavy truck is characterized by comprising a conveying line body (4), a balance shaft placing rack and a seventh shaft walking track (3) of a robot;
the conveying line body (4) is used for conveying a truck frame (5);
the balance shaft placing rack is arranged on one side of the conveying line body (4) and used for storing the balance shaft (6);
the robot seventh-axis walking rails (3) are symmetrically arranged on two sides of the conveying line body (4), and an assembling robot (1) and a visual positioning guiding robot (2) are arranged on the robot seventh-axis walking rails (3) on each side in a sliding mode and used for assembling the balance shaft (6) on the truck frame (5).
2. The automatic assembling equipment for the balance shaft of the heavy truck according to claim 1, wherein a plurality of part material racks are arranged on the outer side of the seventh shaft walking track (3) of the robot for storing parts required by assembling.
3. The automatic assembly equipment of a heavy truck balance shaft according to claim 2, characterized in that said conveyor line body (4) is embodied as a friction chain trolley.
4. The automatic assembling equipment for the balance shaft of the heavy truck according to claim 3, characterized in that a safety fence (7) is arranged on the outer side of the equipment, and a plurality of safety doors (8) are arranged on the safety fence (7).
5. The automatic assembly equipment of the balance shaft of the heavy truck according to claim 4, characterized by further comprising a control system, wherein the control system is electrically connected with the conveyor line body (4), the assembly robot (1) and the visual positioning and guiding robot (2) respectively, and is used for controlling the operation of the equipment.
6. The automatic assembling equipment for the balance shaft of the heavy truck according to claim 5, characterized in that the assembling method of the equipment comprises the following specific steps:
s1, finishing the previous process, enabling the truck frame (5) to fall on a friction trolley of the conveyor line body (4), and keeping the conveyor line body (4) still;
s2, the vision positioning guide robot (2) receives a signal of completion of a previous process, the vision positioning guide robot (2) on the two sides of the conveying line body (4) moves to the position where a balance shaft is installed on the truck frame (5) through the seventh shaft walking rail (3), the balance shaft installation hole in the truck frame (5) is photographed, the spatial position coordinate information of the installation hole is recognized, information such as the position characteristics of the installation hole is sent to the assembling robot (1), and the vision positioning guide robot (2) returns to the initial position;
s3, after receiving mounting hole information, two assembling robots (1) on two sides of a conveying line body (4) move to the positions of balance shaft storage racks through seventh shaft walking rails (3) to grab balance shafts (6), then move to the positions of balance shaft installation on a truck frame (5) through the seventh shaft walking rails (3), and the assembling robots (2) respectively install the balance shafts (6) on two sides onto the truck frame (5) according to installation requirements;
and S4, after the balance shaft is assembled, the assembling robot (2) returns to the initial position, and the work cycle is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110314691.2A CN112975331A (en) | 2021-03-24 | 2021-03-24 | Automatic assembly equipment for balance shaft of heavy truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110314691.2A CN112975331A (en) | 2021-03-24 | 2021-03-24 | Automatic assembly equipment for balance shaft of heavy truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112975331A true CN112975331A (en) | 2021-06-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110314691.2A Pending CN112975331A (en) | 2021-03-24 | 2021-03-24 | Automatic assembly equipment for balance shaft of heavy truck |
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| Country | Link |
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| CN (1) | CN112975331A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114918640A (en) * | 2022-06-08 | 2022-08-19 | 天津九一工程技术有限公司 | Automatic assembling robot and assembling method for gearbox |
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| US4453085A (en) * | 1981-05-11 | 1984-06-05 | Diffracto Ltd. | Electro-optical systems for control of robots, manipulator arms and co-ordinate measuring machines |
| US20120197438A1 (en) * | 2009-12-02 | 2012-08-02 | Canon Kabushiki Kaisha | Dual arm robot |
| CN106475770A (en) * | 2016-12-14 | 2017-03-08 | 大连扬天科技有限公司 | Large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system |
| CN106994593A (en) * | 2017-04-28 | 2017-08-01 | 广州瑞松北斗汽车装备有限公司 | Automobile door cover hinge automated installation of system |
| CN108724169A (en) * | 2017-04-25 | 2018-11-02 | 无锡黎曼机器人科技有限公司 | Visual guidance automotive rear partition board puts together machines people |
| CN109591919A (en) * | 2018-12-29 | 2019-04-09 | 江苏金坛大迈汽车工程研究院有限公司 | A kind of automatic mounting process of automotive seat |
| CN110315514A (en) * | 2019-08-07 | 2019-10-11 | 江苏汇博机器人技术股份有限公司 | Desktop type both arms cooperation robot system for real training |
| CN110666410A (en) * | 2019-10-31 | 2020-01-10 | 上海船舶工艺研究所(中国船舶工业集团公司第十一研究所) | Binocular vision-based automatic assembling device for small ship assembly and implementation method |
-
2021
- 2021-03-24 CN CN202110314691.2A patent/CN112975331A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4453085A (en) * | 1981-05-11 | 1984-06-05 | Diffracto Ltd. | Electro-optical systems for control of robots, manipulator arms and co-ordinate measuring machines |
| US20120197438A1 (en) * | 2009-12-02 | 2012-08-02 | Canon Kabushiki Kaisha | Dual arm robot |
| CN106475770A (en) * | 2016-12-14 | 2017-03-08 | 大连扬天科技有限公司 | Large-scale wind electricity equipment king-bolt big nut robot is automatically clamping system |
| CN108724169A (en) * | 2017-04-25 | 2018-11-02 | 无锡黎曼机器人科技有限公司 | Visual guidance automotive rear partition board puts together machines people |
| CN106994593A (en) * | 2017-04-28 | 2017-08-01 | 广州瑞松北斗汽车装备有限公司 | Automobile door cover hinge automated installation of system |
| CN109591919A (en) * | 2018-12-29 | 2019-04-09 | 江苏金坛大迈汽车工程研究院有限公司 | A kind of automatic mounting process of automotive seat |
| CN110315514A (en) * | 2019-08-07 | 2019-10-11 | 江苏汇博机器人技术股份有限公司 | Desktop type both arms cooperation robot system for real training |
| CN110666410A (en) * | 2019-10-31 | 2020-01-10 | 上海船舶工艺研究所(中国船舶工业集团公司第十一研究所) | Binocular vision-based automatic assembling device for small ship assembly and implementation method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114918640A (en) * | 2022-06-08 | 2022-08-19 | 天津九一工程技术有限公司 | Automatic assembling robot and assembling method for gearbox |
| CN114918640B (en) * | 2022-06-08 | 2023-09-12 | 天津九一工程技术有限公司 | Automatic assembling robot and assembling method for gearbox |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: No. 1958, Chuangye street, Changchun automobile economic and Technological Development Zone, Changchun City, Jilin Province, 130011 Applicant after: The Ninth Design and Research Institute of Machinery Industry Co.,Ltd. Address before: No. 1958, Chuangye street, Changchun automobile economic and Technological Development Zone, Changchun City, Jilin Province, 130011 Applicant before: Machinery Industry Ninth Design and Research Institute Co.,Ltd. |
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| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210618 |
|
| RJ01 | Rejection of invention patent application after publication |