CN114273907A - Full-automatic assembly system and assembly method for forming lifting platform guide rail - Google Patents
Full-automatic assembly system and assembly method for forming lifting platform guide rail Download PDFInfo
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- CN114273907A CN114273907A CN202111597445.9A CN202111597445A CN114273907A CN 114273907 A CN114273907 A CN 114273907A CN 202111597445 A CN202111597445 A CN 202111597445A CN 114273907 A CN114273907 A CN 114273907A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000003825 pressing Methods 0.000 claims abstract description 59
- 238000003860 storage Methods 0.000 claims abstract description 39
- 239000012636 effector Substances 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 19
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000011900 installation process Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000002844 melting Methods 0.000 description 4
- 230000008018 melting Effects 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000000149 argon plasma sintering Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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Abstract
The invention relates to a full-automatic assembly system and an assembly method of a guide rail of a forming lifting platform, wherein the full-automatic assembly system comprises a host control system, a clamping table, a forming lifting platform main body, an adjustable workbench, a mechanical arm, a laser ranging sensor, a guide rail storage area, a guide rail pressing block storage area and a screw storage area; the host control system respectively controls the two manipulators to move on the corresponding adjustable working tables, the guide rail, the screws on the guide rail, the guide rail pressing block and the screws on the guide rail pressing block are automatically installed in sequence, then the distance between the reference surface and the guide rail is measured through the laser ranging sensor, and the guide rail is accurately positioned and adjusted; the host control system controls the clamping table to enable the forming lifting platform main body to rotate 180 degrees for automatic assembly and adjustment again. The whole assembly process of the invention realizes the automatic operation of the formed lifting platform guide rail, has accurate assembly precision, reduces the influence of human factors, saves the labor cost and improves the production efficiency.
Description
Technical Field
The invention belongs to the technical field of selective laser melting equipment, and particularly relates to a full-automatic assembly system and an assembly method for a guide rail of a forming lifting platform.
Background
The assembly process is an essential link in the manufacturing process of the selective laser melting equipment, and the assembly efficiency and the cost of the equipment are influenced. The forming lifting platform is an up-and-down moving platform of a forming chamber and a powder chamber of selective laser melting equipment, and based on the principle of layer-by-layer laser sintering accumulation forming by selective laser melting technology, a forming workbench descends layer by layer in the forming process of a sample, and the existing descending structure is usually a guide rail arranged on two sides of the lifting platform to ensure high-precision stable smooth movement.
The assembly of the profiled lifting platform guide rails comprises assembly and adjustment. Wherein:
the assembly of the profiled lift platform rail includes: the first pair of main guide rails and the auxiliary guide rails are placed on the forming lifting platform main body, inaccuracy exists in placement positions, and the situation that parts need to be manually moved again to determine the positions exists. After the guide rail is placed, the guide rail screws are installed through the wrench to be fastened incompletely, the guide rail precision is convenient to adjust subsequently, then the guide rail pressing block is placed on the forming lifting platform, the direction and the position of the pressing block are adjusted, the guide rail pressing block screws are fastened through the wrench, the main guide rail and the auxiliary guide rail are installed through the same step, and after the assembling is finished and the adjusting is carried out, all screws are fastened again.
Adjusting a guide rail of the forming lifting platform: the straightness of the guide rail is adjusted by adjusting the compression degree of the guide rail pressing block, the flat ruler is placed between the main guide rail and the auxiliary guide rail, the main guide rail is used as a reference, the dial indicator is used for adjusting the straightness of the flat ruler to be less than or equal to 0.03mm, then the flat ruler is used as a reference, and the straightness of the auxiliary guide rail is adjusted, namely the straightness of the guide rail pressing block of the auxiliary guide rail is adjusted, so that the purpose of adjusting the straightness of the whole auxiliary guide rail to be less than or equal to 0.03mm is achieved by giving appropriate tightening or loosening force of a guide rail pressing block screw according to the experience of an assembler; however, when the straightness of the second pair of main guide rail and the auxiliary guide rail is adjusted by means of the tool, the process has the defects of multiple calibration repetition times, weak controllability and slow installation process.
At present, assembly and adjustment of guide rails are manually operated, randomness is high, a period is long, precision requirements cannot be guaranteed quantitatively, production efficiency is low, proficiency requirements on workers are high, so that the quality consistency and performance stability of products can be affected by the skill levels of different assemblers, assembly methods and assembly habits, the assembly process is controlled by lacking effective technical means and methods, and the production cost of the products is increased invisibly.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a full-automatic assembly system and an assembly method for a guide rail of a forming lifting platform.
The invention is realized in this way, a full-automatic assembly system of a shaping lifting platform guide rail, which comprises a host control system, a clamping table, a shaping lifting platform main body, an adjustable workbench, a manipulator, a laser ranging sensor, a guide rail storage area, a guide rail pressing block storage area and a screw storage area;
the host control system is used for respectively controlling the actions of the clamping table, the adjustable workbench, the manipulator and the laser ranging sensor;
the forming lifting platform main body is arranged on the clamping table, so that the forming lifting platform main body can rotate 360 degrees, and the upper and lower mounting planes of the forming lifting platform main body are respectively provided with a pair of guide rail mounting positions;
the adjustable working tables are respectively positioned at the left side and the right side of the forming lifting platform main body, linear guide rails are mounted on the table top of each adjustable working table, the manipulator is mounted on the linear guide rails and can move on the corresponding adjustable working table through the linear guide rails, the manipulator can rotate for 360 degrees, and the end effector of the manipulator is provided with a multifunctional gripper, an automatic screw machine and a vision system;
two movable laser ranging sensors are mounted on the side surface of each adjustable workbench, which is close to the side of the forming lifting platform main body;
the guide rail storage area, the guide rail pressing block storage area and the screw storage area are respectively used for storing the guide rail, the guide rail pressing block and the screw.
In the above technical solution, preferably, four goblets are installed at the bottom of the adjustable workbench,
the full-automatic assembly method of the forming lifting platform guide rail comprises the following specific steps:
1) respectively placing the guide rail, the guide rail pressing block and the screw into corresponding storage areas;
installing the formed lifting platform main body on a clamping table, adjusting the position of the formed lifting platform main body clamped by the clamping table by a host control system, taking an installation plane where one pair of guide rails of the formed lifting platform main body are located as an original reference plane, and adjusting the plane to be upward and horizontal;
placing the adjustable workbench at a preset position, and adjusting the height and levelness of the adjustable workbench by the aid of the foot cup;
2) the host control system respectively controls the two manipulators to move on the corresponding adjustable working tables, and the guide rail, the screws on the guide rail, the guide rail pressing block and the screws on the guide rail pressing block are automatically installed in sequence; before the adjustment, the screw on the guide rail is in an incomplete fastening state, and the screw on the guide rail pressing block is in a complete fastening state;
3) taking one side face of the left side face and the right side face of the formed lifting platform main body as a reference, recording the position of the side face close to an original reference face as a side face A, and recording the position of the side face close to the other installation plane as a side face B, and respectively calibrating the straightness of two guide rails on the original reference face by a host control system through a laser ranging sensor; after the two guide rails are calibrated, the host control system respectively controls the two manipulators to move, gives the torque values of the fixing screws of the automatic screw machine of the end effector of the manipulator, sequentially fastens the screws on the guide rails, and automatically installs the two guide rails;
4) the host control system controls the clamping table to enable the forming lifting platform main body to rotate 180 degrees, and a pair of guide rails of the other mounting plane are installed by adopting the same method as the step 2);
5) and 3) calibrating the straightness of the two guide rails on the other mounting plane by using the side surface B as a reference and adopting the same method as the step 3), and finishing the automatic mounting of the two guide rails.
In the above technical solution, preferably, in step 2), the automatic installation process of the guide rail, the screw on the guide rail, the guide rail pressing block, and the screw on the guide rail pressing block is as follows:
the host control system respectively controls the two mechanical arms to move on the corresponding adjustable working tables, and controls the grippers of the mechanical arm end effectors to grip the guide rails in the guide rail storage areas and accurately place the guide rails at the installation positions of the main guide rails of the forming lifting platform;
the manipulator continues to move according to the path planned by the host control system, the manipulator rotates to the screw storage area to grab the screw and place the screw into the guide rail mounting hole, the grab is lifted and then rotates and is replaced by an automatic screw machine, the host control system gives a pre-tightening torque to automatically mount the screw on the guide rail, and at the moment, the screw on the guide rail is in an incomplete fastening state;
the manipulator continues to move according to a path planned by the host control system, the automatic screw machine is lifted and then rotates and is replaced by a gripper, and the manipulator sequentially rotates to a guide rail pressing block storage area to grab a guide rail pressing block and place the guide rail pressing block on the installation position of a guide rail pressing block of the forming lifting platform main body;
the manipulator continues to move according to the path planned by the host control system, the manipulator rotates to the screw storage area to grab the screw and place the screw into the guide rail pressing block mounting hole, the grab rotates after being lifted and is replaced by an automatic screw machine, the host control system gives a moment to automatically mount the screw on the guide rail pressing block, and the screw on the guide rail pressing block is in a completely fastened state at the moment.
In the above technical solution, preferably, in the step 3), a calibration process of the straightness of the two guide rails is as follows:
the moving paths of the two laser ranging sensors on the adjustable workbench on the side surface A are respectively aligned with the center line of the side surface A of the forming lifting platform body and the center line of the side surface of the corresponding guide rail; the moving path of the laser ranging sensor above the adjustable workbench on the other side is flush with the center line of the side surface of the corresponding guide rail; the host control system controls the positions of the laser ranging sensors to return to zero;
the host control system controls the laser ranging sensor corresponding to the side surface A and the laser ranging sensor corresponding to one guide rail of the original reference surface, continuous monitoring points are extracted from the two moving paths, the difference between the measured distance difference and a set standard value is calculated, and if the absolute value of the difference between the measured distance difference and the set standard value is less than or equal to 0.03mm, the straightness of the guide rail is qualified; if the absolute value of the difference between the measured distance difference and the set standard value is larger than or equal to 0.03mm, the host control system identifies the monitoring point larger than 0.03mm and drives the corresponding mechanical arm to move to the unqualified position, the automatic screw machine of the end effector gives continuous forward or reverse force to the screw on the guide rail pressing block for adjustment, and the condition of calibration and adjustment is scanned again until the absolute value of the difference between the measured distance difference and the set standard value is smaller than or equal to 0.03 mm;
similarly, the host control system controls the laser ranging sensor corresponding to the side surface A and the laser ranging sensor corresponding to the other guide rail of the original reference surface, and the straightness of the guide rail is calibrated by adopting the same method as the method until the straightness of the guide rail is qualified.
The invention has the advantages and positive effects that:
according to the invention, the forming lifting platform main body is arranged on the clamping table, and the mechanical arm on the adjustable workbench is controlled to move to the assembling position according to the planned path, so that the guide rail is automatically assembled; measuring the distance between the reference surface and the guide rail through a laser ranging sensor, and accurately positioning, correcting and adjusting the guide rail; the host control system controls the clamping table to rotate the forming lifting platform main body by 180 degrees, and then the guide rail is automatically assembled and adjusted; the whole assembly process realizes full-automatic operation of the guide rail of the lifting platform, the assembly precision is high, the influence of human factors is reduced, the labor cost is saved, and the production efficiency is improved.
Drawings
FIG. 1 is a top view of a fully automated assembly system for forming a lift platform rail provided in accordance with an embodiment of the present invention;
FIG. 2 is a front view of a fully automated assembly system for forming a lift platform rail provided by an embodiment of the present invention;
fig. 3 is a schematic flow chart of a fully automatic assembly method of a guide rail of a forming lifting platform provided by an embodiment of the invention.
In the figure: 1. a guide rail; 2. a guide rail pressing block; 3. a screw; 4. forming a lifting platform body; 5. a clamping table; 6. an adjustable work table; 7. a manipulator; 8. a laser ranging sensor; s1, a guide rail storage area; s2, a guide rail pressing block storage area; s3, a screw storage area; 11. a first guide rail; 12. a second guide rail; 13. a third guide rail; 14. a fourth guide rail; 61. the first adjustable workbench; 62. a second adjustable workbench; 71. a first mechanical arm; 72. a second manipulator; 81. a first laser ranging sensor; 82. a second laser ranging sensor; 83. a third laser ranging sensor; 84. and a fourth laser ranging sensor.
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. It will be appreciated by those of skill in the art that the following specific examples or embodiments are illustrative of a series of preferred arrangements of the invention to further explain the principles of the invention, and that such arrangements may be used in conjunction or association with one another, unless it is explicitly stated that some or all of the specific examples or embodiments cannot be used in conjunction or association with other examples or embodiments in the invention. Meanwhile, the following specific examples or embodiments are only provided as an optimized arrangement mode and are not to be understood as limiting the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "a," "an," "two," "three," "four," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, the present embodiment provides a full-automatic assembly system for a guide rail of a forming lifting platform, which includes a host control system, a clamping table 5, a forming lifting platform body 4, an adjustable workbench 6, a manipulator 7, a laser distance measuring sensor 8, a guide rail storage area S1, a guide rail pressing block storage area S2, and a screw storage area S3.
The host control system is used for respectively controlling the actions of the clamping table 5, the adjustable workbench 6, the manipulator 7 and the laser ranging sensor 8; the forming lifting platform body 4 is arranged on the clamping table 5, so that the forming lifting platform body 4 can rotate by 360 degrees, the upper and lower installation planes of the forming lifting platform body 4 are respectively provided with a pair of installation positions of the guide rails 1, one pair of guide rails 1 arranged on one installation plane is marked as a first guide rail 11 and a second guide rail 12, and the other pair of guide rails 1 arranged on the other installation plane is marked as a third guide rail 13 and a fourth guide rail 14; two pairs of guide rails 1 are used for driving, and the ascending and descending precision and the load are guaranteed.
The adjustable working tables 6 are respectively positioned at the left side and the right side of the forming lifting platform main body 4 and are respectively marked as an adjustable working table I61 and an adjustable working table II 62, and four foot cups are arranged at the bottom of each adjustable working table 6; a linear guide rail is mounted on the table top of each adjustable workbench 6, the manipulator 7 is mounted on the linear guide rail and can move on the corresponding adjustable workbench 6 through the linear guide rail, the manipulator 7 can rotate for 360 degrees, and an end effector of the manipulator 7 is provided with a multifunctional gripper, an automatic screw machine and a vision system and can be selected according to requirements; the two manipulators 7 are respectively denoted as a first manipulator 71 and a second manipulator 72.
Two movable laser ranging sensors 8 are mounted on the side surface of each adjustable workbench 6 close to the forming lifting platform main body 4; the first laser ranging sensor 81 and the second laser ranging sensor 82 are installed on the first adjustable workbench 61 side, and the third laser ranging sensor 83 and the fourth laser ranging sensor 84 are installed on the second adjustable workbench 62 side.
The guide rail storage area S1, the guide rail pressing block storage area S2 and the screw storage area S3 are respectively used for storing a guide rail 1, a guide rail pressing block 2 and a screw 3.
The full-automatic assembly method of the formed lifting platform guide rail comprises the following specific steps:
1) early preparation work: respectively placing the guide rail 1, the guide rail pressing block 2 and the screw 3 into corresponding storage areas;
installing the formed lifting platform main body 4 on a clamping table 5, adjusting the position of the formed lifting platform main body 4 clamped by the clamping table 5 by a host control system to take the installation plane where a pair of first guide rail 11 and second guide rail 12 of the formed lifting platform main body 4 is located as an original reference plane, and adjusting the plane to be upward and horizontal;
placing the two adjustable workbenches 6 at preset positions, and adjusting the height and the levelness of the adjustable workbenches 6 by the aid of the foot cup;
2) the main machine control system controls the first manipulator 71 to move on the first adjustable workbench 61 and the first guide rail 11, and the specific steps are as follows:
a gripper controlling the end effector of the first manipulator 71 grabs the guide rail in the guide rail storage area S1 and accurately places the guide rail at the installation position of the first guide rail 11 of the forming lifting platform body 4;
the first manipulator 71 continues to move, according to a path planned by the host control system, the first manipulator 71 rotates to a corresponding screw storage area S3 to grab the screws 3 and place the screws 3 in the mounting holes of the first guide rail 11, a gripper of the end effector is lifted and then rotates and is replaced by an automatic screw machine, the host control system gives a pre-tightening torque to automatically mount the screws 3 on the first guide rail 11, at the moment, the screws 3 are in an incomplete fastening state, then the first manipulator 71 sequentially mounts the screws 3, and the end effector is replaced by the automatic screw machine to automatically pre-mount the screws 3 on the first guide rail until all the screws on the first guide rail 11 are mounted and pre-tightened;
the first manipulator 71 continues to move, according to the path planned by the host control system, the automatic screw machine of the end effector rotates and is replaced by a gripper after being lifted, and the first manipulator 71 sequentially rotates to the guide rail pressing block storage area S2 to grab the guide rail pressing block 2 and place the guide rail pressing block 2 at the installation position of the guide rail pressing block 2 of the first guide rail 11;
the first manipulator 71 continues to move, according to a path planned by the host control system, the first manipulator 71 rotates to a screw storage area S3 to grab the screws 3 and place the screws 3 in the mounting holes of the guide rail pressing block 2, a gripper of the end effector is lifted and then rotates and is replaced by an automatic screw machine, the host control system gives a moment to automatically mount the screws 3 on the guide rail pressing block 2, at the moment, the screws 3 are in a completely fastened state, then the first manipulator 71 sequentially mounts the screws 3, the end effector is replaced by the automatic screw machine to automatically mount the screws 3 on the guide rail pressing block 2, and the mounting and fastening of all the screws on the guide rail pressing block 2 of the first guide rail 11 are completed;
meanwhile, the host control system controls the second manipulator 72 to move on the second adjustable workbench 62 on the other side, and the second manipulator is installed on the second guide rail 12 synchronously with the installation of the first guide rail 11;
3) taking one side surface of the left and right side surfaces of the formed lifting platform body 4 as a reference, recording the installation plane where the side surface is close to the first guide rail 11 and the second guide rail 12 as a side surface A, and recording the installation plane where the side surface is close to the third guide rail 13 and the fourth guide rail 14 as a side surface B;
enabling the moving path of the first laser ranging sensor 81 to be flush with the central line of the side surface A of the forming lifting platform body, and enabling the moving path of the second laser ranging sensor 82 to be flush with the central line of the side surface of the first guide rail 11; the moving path of the third laser ranging sensor 83 above the second adjustable workbench 62 is flush with the center line of the side surface of the second guide rail 12; the host control system controls the positions of the laser ranging sensors to return to zero;
firstly, the straightness of the first guide rail 11 is calibrated: the host control system controls the first laser ranging sensor 81 and the second laser ranging sensor 82, continuous monitoring points are extracted from the two moving paths, the difference between the measured distance difference value and a set standard value is calculated, and if the absolute value of the difference value between the measured distance difference value and the set standard value is less than or equal to 0.03mm, the straightness of the first guide rail 11 is qualified; if the absolute value of the difference between the measured distance difference and the set standard value is larger than or equal to 0.03mm, the host control system identifies a monitoring point larger than 0.03mm, drives the first manipulator 71 to move to an unqualified precision position, and the automatic screw machine of the end effector gives the continuous forward or reverse force of the screw 3 of the guide rail pressing block, adjusts the position, and scans, checks, corrects and adjusts the condition again until the absolute value of the difference between the measured distance difference and the set standard value is smaller than or equal to 0.03 mm;
and with the side surface A of the formed lifting platform body 4 as a reference, the straightness of the second guide rail 12 is calibrated: the host control system controls the first laser ranging sensor 81 and the third laser ranging sensor 83, continuous monitoring points are extracted on the two moving paths, the difference (absolute value) between the measured distance difference and a set standard value is calculated, if the difference is less than or equal to 0.03mm, the straightness of the second guide rail 12 is qualified, and if the difference is greater than 0.03mm, the host control system controls the second manipulator 72 to correct and adjust the operation of the second guide rail 12 and the first guide rail 11 to be consistent;
after the first guide rail 11 and the second guide rail 12 are calibrated, the host control system controls the first manipulator 71 and the second manipulator 72 to move simultaneously, gives a torque value of a fixing screw of an automatic screw machine of an end effector of the manipulator, fastens the screw 3 on the guide rail, and completes automatic installation of the first guide rail 11 and the second guide rail 12.
4) The host control system controls the clamping table 5 to enable the forming lifting platform body 4 to rotate 180 degrees, the guide rail three 13 and the guide rail four 14 of the other mounting plane are mounted, the automatic mounting process of the guide rail three 13 and the guide rail four 14 is the same as the automatic mounting process of the guide rail one 11 and the guide rail two 12, and the path planning is automatically completed through the host control system.
5) The moving path of the fourth laser ranging sensor 84 is aligned with the center line of the side surface B of the forming lifting platform body, and the moving path of the third laser ranging sensor 83 is aligned with the center line of the side surface of the third guide rail 13; the moving path of the second laser ranging sensor 82 is flush with the center line of the side surface of the fourth guide rail 14; the host control system controls the positions of the laser ranging sensors to return to zero again;
with the side B of the formed elevating platform body 4 as a reference, the straightness of the third guide rail 13 is calibrated: the host control system controls the laser ranging sensor IV 84 and the laser ranging sensor III 83, continuous monitoring points are extracted from two moving paths, the difference (absolute value) between the measured distance difference and a set standard value is calculated, if the difference is less than or equal to 0.03mm, the straightness of the guide rail III 13 is qualified, if the difference is greater than 0.03mm, the host control system identifies a detection point greater than 0.03mm, the manipulator II 72 is driven to move to an unqualified precision position, an automatic screw machine of the end effector gives continuous forward or reverse force to the screw 3 of the guide rail pressing block, adjustment is carried out, and the calibration and adjustment conditions are scanned again until the difference (absolute value) between the measured distance difference and the set standard value is less than or equal to 0.03 mm;
with the side face B of the forming elevating platform body 4 as a reference, the straightness of the guide rail four 14 is calibrated: the host control system controls the laser ranging sensor IV 84 and the laser ranging sensor II 82, continuous monitoring points are extracted on two moving paths, the difference (absolute value) between the measured distance difference value and a set standard value is calculated, if the difference is less than or equal to 0.03mm, the straightness of the guide rail IV 14 is qualified, and if the difference is more than 0.03mm, the host control system controls the manipulator I71 to correct and adjust the operation of the guide rail IV 14 and the operation of the guide rail III 13;
after the third guide rail 13 and the fourth guide rail 14 are calibrated, the host control system controls the first manipulator 71 and the second manipulator 72 to move simultaneously, the torque value of the fixing screw of the automatic screw machine of the end effector of the host control system is given, the screw 3 on the guide rail is fastened, and the third guide rail 13 and the fourth guide rail 14 are automatically installed.
Thus, the full-automatic assembly of the guide rail of the forming lifting platform is completed.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: it is to be understood that modifications may be made to the technical solutions described in the foregoing embodiments, or some or all of the technical features may be equivalently replaced, and the modifications or the replacements may not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. The utility model provides a full automatic assembly system of lift platform guide rail takes shape which characterized in that: the device comprises a host control system, a clamping table, a forming lifting platform main body, an adjustable workbench, a manipulator, a laser ranging sensor, a guide rail storage area, a guide rail pressing block storage area and a screw storage area;
the host control system is used for respectively controlling the actions of the clamping table, the adjustable workbench, the manipulator and the laser ranging sensor;
the forming lifting platform main body is arranged on the clamping table, so that the forming lifting platform main body can rotate 360 degrees, and the upper and lower mounting planes of the forming lifting platform main body are respectively provided with a pair of guide rail mounting positions;
the adjustable working tables are respectively positioned at the left side and the right side of the forming lifting platform main body, linear guide rails are mounted on the table top of each adjustable working table, the manipulator is mounted on the linear guide rails and can move on the corresponding adjustable working table through the linear guide rails, the manipulator can rotate for 360 degrees, and the end effector of the manipulator is provided with a multifunctional gripper, an automatic screw machine and a vision system;
two movable laser ranging sensors are mounted on the side surface of each adjustable workbench, which is close to the side of the forming lifting platform main body;
the guide rail storage area, the guide rail pressing block storage area and the screw storage area are respectively used for storing the guide rail, the guide rail pressing block and the screw.
2. The fully automated assembly system for forming a lift platform rail according to claim 1, wherein four foot cups are mounted to the bottom of the adjustable table.
3. A full-automatic assembly method for a profiled lifting platform rail according to the full-automatic assembly system of claim 1 or 2, characterized by the specific steps of:
1) respectively placing the guide rail, the guide rail pressing block and the screw into corresponding storage areas;
installing the formed lifting platform main body on a clamping table, adjusting the position of the formed lifting platform main body clamped by the clamping table by a host control system, taking an installation plane where one pair of guide rails of the formed lifting platform main body are located as an original reference plane, and adjusting the plane to be upward and horizontal;
placing the adjustable workbench at a preset position, and adjusting the height and levelness of the adjustable workbench by the aid of the foot cup;
2) the host control system respectively controls the two manipulators to move on the corresponding adjustable working tables, and the guide rail, the screws on the guide rail, the guide rail pressing block and the screws on the guide rail pressing block are automatically installed in sequence; before the adjustment, the screw on the guide rail is in an incomplete fastening state, and the screw on the guide rail pressing block is in a complete fastening state;
3) taking one side face of the left side face and the right side face of the formed lifting platform main body as a reference, recording the position of the side face close to an original reference face as a side face A, and recording the position of the side face close to the other installation plane as a side face B, and respectively calibrating the straightness of two guide rails on the original reference face by a host control system through a laser ranging sensor; after the two guide rails are calibrated, the host control system respectively controls the two manipulators to move, gives the torque values of the fixing screws of the automatic screw machine of the end effector of the manipulator, sequentially fastens the screws on the guide rails, and automatically installs the two guide rails;
4) the host control system controls the clamping table to enable the forming lifting platform main body to rotate 180 degrees, and a pair of guide rails of the other mounting plane are installed by adopting the same method as the step 2);
5) and 3) calibrating the straightness of the two guide rails on the other mounting plane by using the side surface B as a reference and adopting the same method as the step 3), and finishing the automatic mounting of the two guide rails.
4. The fully-automatic assembly method for the guide rail of the forming lifting platform as claimed in claim 3, wherein in the step 2), the automatic installation process of the guide rail, the screw on the guide rail, the guide rail pressing block and the screw on the guide rail pressing block is as follows:
the host control system respectively controls the two mechanical arms to move on the corresponding adjustable working tables, and controls the grippers of the mechanical arm end effectors to grip the guide rails in the guide rail storage areas and accurately place the guide rails at the installation positions of the main guide rails of the forming lifting platform;
the manipulator continues to move according to the path planned by the host control system, the manipulator rotates to the screw storage area to grab the screw and place the screw into the guide rail mounting hole, the grab is lifted and then rotates and is replaced by an automatic screw machine, the host control system gives a pre-tightening torque to automatically mount the screw on the guide rail, and at the moment, the screw on the guide rail is in an incomplete fastening state;
the manipulator continues to move according to a path planned by the host control system, the automatic screw machine is lifted and then rotates and is replaced by a gripper, and the manipulator sequentially rotates to a guide rail pressing block storage area to grab a guide rail pressing block and place the guide rail pressing block on the installation position of a guide rail pressing block of the forming lifting platform main body;
the manipulator continues to move according to the path planned by the host control system, the manipulator rotates to the screw storage area to grab the screw and place the screw into the guide rail pressing block mounting hole, the grab rotates after being lifted and is replaced by an automatic screw machine, the host control system gives a moment to automatically mount the screw on the guide rail pressing block, and the screw on the guide rail pressing block is in a completely fastened state at the moment.
5. A fully automated assembly method of a profiled lift platform rail according to claim 3, characterized in that in step 3), the calibration procedure of the straightness of the two rails is as follows:
the moving paths of the two laser ranging sensors on the adjustable workbench on the side surface A are respectively aligned with the center line of the side surface A of the forming lifting platform body and the center line of the side surface of the corresponding guide rail; the moving path of the laser ranging sensor above the adjustable workbench on the other side is flush with the center line of the side surface of the corresponding guide rail; the host control system controls the positions of the laser ranging sensors to return to zero;
the host control system controls the laser ranging sensor corresponding to the side surface A and the laser ranging sensor corresponding to one guide rail of the original reference surface, continuous monitoring points are extracted from the two moving paths, the difference between the measured distance difference and a set standard value is calculated, and if the absolute value of the difference between the measured distance difference and the set standard value is less than or equal to 0.03mm, the straightness of the guide rail is qualified; if the absolute value of the difference between the measured distance difference and the set standard value is larger than or equal to 0.03mm, the host control system identifies the monitoring point larger than 0.03mm and drives the corresponding mechanical arm to move to the unqualified position, the automatic screw machine of the end effector gives continuous forward or reverse force to the screw on the guide rail pressing block for adjustment, and the condition of calibration and adjustment is scanned again until the absolute value of the difference between the measured distance difference and the set standard value is smaller than or equal to 0.03 mm;
similarly, the host control system controls the laser ranging sensor corresponding to the side surface A and the laser ranging sensor corresponding to the other guide rail of the original reference surface, and the straightness of the guide rail is calibrated by adopting the same method as the method until the straightness of the guide rail is qualified.
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| US20030005594A1 (en) * | 2001-06-13 | 2003-01-09 | Antonio Recupero | Calibration and setting method for sensors in an assembly station and an assembly station |
| CN101614531A (en) * | 2009-07-30 | 2009-12-30 | 长江润发机械股份有限公司 | Full-automatic detector for straightness of elevator guide rail |
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| CN108655721A (en) * | 2018-06-29 | 2018-10-16 | 江苏元利数控机床有限公司 | A kind of device and its application method of precise straightening the linear guide |
| CN113334071A (en) * | 2021-06-16 | 2021-09-03 | 三一重能股份有限公司 | Wind driven generator yaw brake assembly platform and full-automatic assembly method |
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| US20030005594A1 (en) * | 2001-06-13 | 2003-01-09 | Antonio Recupero | Calibration and setting method for sensors in an assembly station and an assembly station |
| CN101614531A (en) * | 2009-07-30 | 2009-12-30 | 长江润发机械股份有限公司 | Full-automatic detector for straightness of elevator guide rail |
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