CN114799804B - Robot tightening detection device for axle brake drum installation and application method thereof - Google Patents
Robot tightening detection device for axle brake drum installation and application method thereof Download PDFInfo
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- CN114799804B CN114799804B CN202210577434.2A CN202210577434A CN114799804B CN 114799804 B CN114799804 B CN 114799804B CN 202210577434 A CN202210577434 A CN 202210577434A CN 114799804 B CN114799804 B CN 114799804B
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- 238000001514 detection method Methods 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000009434 installation Methods 0.000 title claims description 14
- 238000001179 sorption measurement Methods 0.000 claims description 38
- 230000007246 mechanism Effects 0.000 claims description 16
- 238000012360 testing method Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 230000006872 improvement Effects 0.000 abstract description 6
- 230000008569 process Effects 0.000 description 5
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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
- B23P19/001—Article feeders for assembling machines
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
Abstract
The invention discloses a robot tightening detection device for mounting an axle brake drum and a use method thereof, and relates to the technical field of brake drums. In the field of assembly of engineering vehicles and commercial vehicle parts, the invention can effectively collect data of tightening heavy parts and detecting brake clearances, and can trace the tightening and mounting quality, thereby enabling production improvement and logistics improvement based on big data to be possible; the automation of the whole operation is realized, the forklift operation and the truss hanging operation of heavy parts are effectively reduced, the field logistics is simplified, and the logistics automation is possible.
Description
Technical Field
The invention relates to the technical field of brake drums, in particular to a robot tightening detection device for mounting an axle brake drum and a using method thereof.
Background
With industry revolution and upgrading, the manufacturing industry further develops to intellectualization, individualization, customization and traceability. Several major trends all require continuous iteration, automatic production and traceability of data of products, and also increasingly higher requirements on universality, accuracy and reliability of a robot assembly process are continuously put forward. Particularly, in the field of assembly of engineering vehicles and commercial vehicle parts, the current situation of production of heavy parts by a multi-variety small-batch mixed line still prevents automation application, is labor-intensive, ensures that tightening and testing operations cannot be guaranteed, and data cannot be traced. In addition, heavy spare parts also require a large amount of fork truck operations and truss hanging operations, also make scene commodity circulation crisscross, and continuous commodity circulation can't ensure, also make personnel's safety can't ensure. Therefore, automatic installation, automatic tightening and automatic detection of robots become a necessary trend.
The traditional manual brake drum installation, tightening and clearance detection operation have the following technical problems: 1. in the field of assembly of engineering vehicles and commercial vehicle parts, heavy parts are generally manually installed, screwed and brake clearance detected, so that quality cannot be ensured, data cannot be traced, and production improvement and logistics improvement based on big data are not from talking; 2. heavy parts also require a large number of forklift operations and truss hanging operations, so that field logistics are staggered, continuous logistics cannot be guaranteed, and personnel safety cannot be guaranteed; 3. the traditional robot tightening gun operation is to directly hold a large-torque tightening shaft by a robot to carry out tightening operation, the large-torque tightening shaft is generally not provided with an adaptive adjusting unit, and the tightening operation is difficult to successfully finish once; 4. fourth, the traditional brake clearance detection relies on experience judgment of operators, is greatly affected by human factors, and is very easy to cause qualified products to enter a maintenance link, while unqualified products flow into the market.
Disclosure of Invention
The invention aims to provide a robot tightening detection device for mounting an axle brake drum and a use method thereof, which are used for solving the technical problems.
The technical scheme adopted by the invention is as follows:
the utility model provides a detection device is screwed up with robot to axle brake drum installation, includes screw and feeding point gum system, screws up and detects robot system, brake drum assembly robot system and brake drum feeding system, screw and feeding point gum system's one side is equipped with screw up and detect robot system and brake drum assembly robot system, one side of brake drum assembly robot system is equipped with brake drum feeding system.
Preferably, the tightening and detecting robot system comprises a robot and a tightening and detecting hand grip arranged on the robot, the tightening and detecting hand grip comprises a hand grip main body support, a screw tightening assembly, a brake clearance detection assembly and a camera assembly, the hand grip main body support is connected with the robot, the screw tightening assembly is arranged at the upper end of the hand grip main body support, and the brake clearance detection assembly and the camera assembly are arranged at the lower end of the hand grip main body support.
As a further preferred aspect, the screw tightening assembly includes a tightening system, a first driving cylinder, a sliding mechanism support, a telescopic adjustment assembly, an adsorption assembly support and an adsorption assembly, the sliding mechanism support and the adsorption assembly support are disposed on two sides of the hand grip main body support, the first driving cylinder, the tightening system and the telescopic adjustment assembly are disposed on the sliding mechanism support, the first driving cylinder drives the tightening system, the adsorption assembly is disposed on the adsorption assembly support, and the tightening system is connected with the adsorption assembly.
As a further preferable aspect, the screw tightening device further comprises a sliding guide rail pair, wherein the sliding guide rail pair is arranged on the sliding mechanism bracket, and the screw tightening system is connected with the sliding guide rail pair.
As a further preference, the adsorption component comprises an adsorption sleeve, a batch head, an angular contact ball bearing and an adsorption air tap, wherein one end of the batch head is installed in the adsorption sleeve through two angular contact ball bearings, and the adsorption air tap is arranged on the outer wall of the adsorption sleeve.
As a further preference, an adapter sleeve is also included, through which the other end of the screwdriver bit is connected to the tightening system.
As a further preferred aspect, the brake clearance detection assembly includes a second driving cylinder and a feeler assembly, the second driving cylinder is connected with the grip main body bracket, and the second driving cylinder drives the feeler assembly.
As a further preferred, the feeler assembly comprises a feeler, a quick-change bracket, a quick-change pin, a rotating bracket and a pulling pressure sensor, wherein one end of the pulling pressure sensor is provided with a connecting plate connected with the second driving cylinder, the other end of the pulling pressure sensor is provided with the rotating bracket, one end of the rotating bracket is provided with the quick-change bracket, the quick-change pin is arranged on the quick-change bracket, and one end of the quick-change bracket is provided with the feeler.
A method of using a robotic tightening detection device for axle brake drum installation, the method of using comprising:
s1, a robot is used for manually tightening and detecting a manually-grabbing pick-up tightening screw;
s2, waiting for the completion of the installation of the brake drum, and completing the screwing operation by the robot;
s3, the robot moves to a gap detection position;
s4, the robot holds the tightening and detecting hand snapshot shooting gap detection holes and corrects the holes;
s5, the second driving cylinder drives the feeler gauge assembly to extend out into the braking gap, and the braking of the brake of the axle assembly is waited for and the braking state is entered;
s6, the second driving cylinder drives the feeler gauge assembly to retract;
and S7, judging whether the test result is qualified, if so, executing the step S8.1, and if not, executing the step S8.2.
S8.1, releasing the brake of the axle assembly, and moving the robot to an initial position;
s8.2, alarming and prompting.
The technical scheme has the following advantages or beneficial effects:
(1) In the field of assembly of engineering vehicles and commercial vehicle parts, the invention can effectively collect data of tightening heavy parts and detecting brake clearances, and can trace the tightening and mounting quality, thereby enabling production improvement and logistics improvement based on big data to be possible;
(2) According to the invention, the automation of the whole operation is realized, the forklift operation and the truss hanging operation of heavy parts are effectively reduced, the field logistics is simplified, and the logistics automation is possible;
(3) According to the invention, the screw tightening assembly has a self-adaptive function, so that the machine does not need to perform feeding operation in the tightening process, and the tightening operation and the tightening success rate are ensured to be successfully completed once;
(4) According to the invention, the traditional brake clearance detection scheme is abandoned, so that human factors can be eliminated, and the stability of product quality and the detection effectiveness are ensured;
(5) According to the invention, the production efficiency and the production beat are improved, and 24-hour unmanned production can be promoted.
Drawings
FIG. 1 is a schematic view of a robot tightening detection device for mounting an axle brake drum in the present invention;
FIG. 2 is a schematic view of the tightening and inspection robot system of the present invention;
FIG. 3 is a schematic view of the tightening and hand grip detection structure of the present invention;
FIG. 4 is a schematic view of the screw tightening assembly of the present invention;
FIG. 5 is a schematic view of the structure of the adsorption module of the present invention;
FIG. 6 is a cross-sectional view of an adsorption module according to the present invention;
FIG. 7 is a schematic structural view of a brake clearance detection assembly of the present invention;
FIG. 8 is a schematic view of the structure of the feeler assembly of the present invention;
FIG. 9 is a schematic of a brake clearance detection application in accordance with the present invention;
fig. 10 is a flowchart of a method of using the robot tightening detection device for axle brake drum installation in the present invention.
In the figure: 1. screw and feeding dispensing system; 2. tightening and detecting a robot system; 21. a robot; 22. tightening and detecting a hand grip; 23. a main body holder; 24. a screw tightening assembly; 241. a tightening system; 242. a first driving cylinder; 243. a slide mechanism bracket; 244. a telescoping amount adjusting assembly; 245. an adsorption assembly bracket; 246. an adsorption assembly; 247. an adsorption sleeve; 248. a head is batched; 249. angular contact ball bearings; 2490. adsorbing the air tap; 2491. a transfer sleeve; 25. a brake clearance detection assembly; 251. a second driving cylinder; 252. a feeler assembly; 253. a feeler gauge; 254. the bracket can be quickly replaced; 255. a quick-change pin; 256. a rotating bracket; 257. a pull pressure sensor; 258. a connecting plate; 26. a camera assembly; 27. a connecting flange; 28. a sliding guide rail pair; 29. a workpiece; 3. a brake drum assembly robot system; 4. a brake drum feed system; 5. and a car assembly.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that, if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are used, the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, only for convenience of describing the present invention and simplifying the description, and does not indicate or imply that the indicated apparatus or element must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like, as used herein, are used for descriptive purposes only and are not to be construed as indicating or implying any relative importance.
In the description of the present invention, it should be noted that unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
FIG. 1 is a schematic view of a robot tightening detection device for mounting an axle brake drum in the present invention;
FIG. 2 is a schematic view of the tightening and inspection robot system of the present invention; FIG. 3 is a schematic view of the tightening and hand grip detection structure of the present invention; FIG. 4 is a schematic view of the screw tightening assembly of the present invention; FIG. 5 is a schematic view of the structure of the adsorption module of the present invention; FIG. 6 is a cross-sectional view of an adsorption module according to the present invention; FIG. 7 is a schematic structural view of a brake clearance detection assembly of the present invention; FIG. 8 is a schematic view of the structure of the feeler assembly of the present invention; FIG. 9 is a schematic of a brake clearance detection application in accordance with the present invention; fig. 10 is a flowchart of a method for using the device for detecting the tightening of the axle brake drum mounting robot according to the present invention, please refer to fig. 1 to 10, which illustrates a preferred embodiment, and the device for detecting the tightening of the axle brake drum mounting robot includes a screw and feeding dispensing system 1, a tightening and detecting robot system 2, a brake drum assembling robot system 3 and a brake drum feeding system 4, wherein the screw and feeding dispensing system 1 is provided with the tightening and detecting robot system 2 and the brake drum assembling robot system 3 on one side, and the brake drum assembling robot system 3 is provided with the brake drum feeding system 4 on one side. In this embodiment, referring to fig. 1, the robot tightening detection device is generally provided with two groups, each group including a screw and feed dispensing system 1, a tightening and detection robot system 2, a brake drum assembly robot system 3, and a brake drum feed system 4. And (5) performing brake drum assembly, screw tightening and gap detection operation on the intermediate axle assembly according to the process flow. Referring to fig. 1, a brake drum assembling robot system 3 is disposed at one side of a screw and feed dispensing system 1, a tightening and detecting robot system 2 is disposed between the screw and feed dispensing system 1 and the brake drum assembling robot system 3, and a brake drum feeding system 4 is disposed at one side of the brake drum assembling robot system 3.
Further, as a preferred embodiment, the tightening and detecting robot system 2 includes a robot 21 and a tightening and detecting hand grip 22 provided on the robot 21, the tightening and detecting hand grip 22 includes a hand grip main body bracket 23, a screw tightening assembly 24, a brake clearance detecting assembly 25 and a camera assembly 26, the hand grip main body bracket 23 is connected with the robot 21, the screw tightening assembly 24 is provided at an upper end of the hand grip main body bracket 23, and the brake clearance detecting assembly 25 and the camera assembly 26 are provided at a lower end of the hand grip main body bracket 23. In this embodiment, the tightening and detecting gripper 22 may be mounted on the robot 21 or on a moving carrier, and as a moving end, the tightening and detecting operations are performed to complete the screw tightening, brake clearance position positioning and detecting operations after the brake drum of the axle of the commercial vehicle or the engineering vehicle is mounted. The tightening and detecting hand grip 22 further includes a connecting flange 27, where the connecting flange 27 is disposed in the middle of the hand grip main body support 23 and is used for connecting with the robot 21. The hand grip body bracket 23 and the connection flange 27 are provided for integrating the screw tightening assembly 24, the brake clearance detecting assembly 25, and the camera assembly 26 with the robot 21 and performing an automated operation. The screw tightening assembly 24 is used for picking up and adaptively tightening the brake drum set screw; the camera assembly 26 consists of a 2D camera, an annular light source and a protective frame, and is used for position correction before screw pick-up, tightening and brake clearance detection; the brake clearance detection assembly 25 is used to enable automatic detection of brake drum brake clearance.
Further, as a preferred embodiment, the screw tightening assembly 24 includes a tightening system 241, a first driving cylinder 242, a sliding mechanism support 243, a telescopic adjustment assembly 244, an adsorption assembly support 245 and an adsorption assembly 246, the sliding mechanism support 243 and the adsorption assembly support 245 are disposed on two sides of the main body support 23, the first driving cylinder 242, the tightening system 241 and the telescopic adjustment assembly 244 are disposed on the sliding mechanism support 243, the first driving cylinder 242 drives the tightening system 241, the adsorption assembly 246 is disposed on the adsorption assembly support 245, and the tightening system 241 is connected with the adsorption assembly 246. In this embodiment, the sliding mechanism support 243 and the adsorption component support 245 are connected with the main body support 23 by screws to form a main body, and the first driving cylinder 242, the tightening system 241 and the sliding rail pair 28 are integrated on the sliding mechanism support 243 and can be driven by the first driving cylinder 242, so that the tightening system 241 can perform an extending/retracting action along the sliding rail pair 28; and the suction assembly 246 is connected to the front telescopic part of the tightening system 241 and is integrated with the suction assembly 246 on the suction assembly bracket 245. In the screwing process, the first driving cylinder 242 pushes out the driving screwing system 241 and moves along the sliding guide rail pair 28, so that the whole screwing system 241 has a certain expansion and contraction amount, thereby realizing self-adaptive adjustment in the screwing process and avoiding secondary actions of the robot 21. In addition, the reverse acting force before and during the tightening can be restrained, false alarm of the cooperative robot 21 is avoided, the tightening quality is improved, and the service life of the cooperative robot 21 is prolonged. The self-adaptive sensitivity of the whole device can be adjusted in real time through the air pressure; the telescopic amount adjusting component 244 is mainly an adjustable buffer device and is connected with the sliding mechanism bracket 243 through a bracket, and the telescopic amount can also be realized by manually adjusting the telescopic amount adjusting component 244.
Further, as a preferred embodiment, the device further comprises a sliding guide rail pair 28, wherein the sliding guide rail pair 28 is arranged on the sliding mechanism bracket 243, and the tightening system 241 is connected with the sliding guide rail pair 28.
Further, as a preferred embodiment, the adsorbing assembly 246 includes an adsorbing sleeve 247, a batch head 248, angular contact ball bearings 249 and an adsorbing air tap 2490, one end of the batch head 248 is installed in the adsorbing sleeve 247 by two angular contact ball bearings 249, and the adsorbing air tap 2490 is arranged on the outer wall of the adsorbing sleeve 247. Through the setting of absorption sleeve 247, batch head 248, angular contact ball bearing 249 and absorption air cock 2490, on the one hand, absorption sleeve 247 is as the carrier seat of angular contact ball bearing 249, and batch head 248 can stretch out and so-called motion through angular contact ball bearing 249, conveniently accomplishes the operation of screwing up. The angular contact ball bearings 249 are installed inside the servo sleeve in a paired manner and fixed by a snap ring, so as to ensure that the tightening system 241 (tightening gun) drives the output shaft (square head) part, the adapter sleeve 2491, the batch head 248 and the screw to be concentric, and also can make up the rigidity deficiency caused by too long batch head 248, thereby ensuring the tightening quality. On the other hand, the adsorbing sleeve 247 is connected with the adsorbing air tap 2490, and a vacuum environment is formed through a vacuum generator, so that screws with different materials and shapes can be accurately adsorbed, and falling does not occur in the movement of the robot 21.
Further, as a preferred embodiment, the screw tightening device further comprises an adapter sleeve 2491, wherein the other end of the screwdriver bit 248 is connected to the screw tightening system 241 through the adapter sleeve 2491. In this embodiment, the batch head 248 of the suction assembly 246 is connected to the tightening system 241 by the adapter sleeve 2491 to complete the tightening operation. The bit 248 may be adapted to standard hexagon bit, quincuncial bit, or special-shaped bit tools.
Further, as a preferred embodiment, the brake clearance detection assembly 25 includes a second drive cylinder 251 and a feeler assembly 252, the second drive cylinder 251 is connected to the grip main body bracket 23, and the second drive cylinder 251 drives the feeler assembly 252. In this embodiment, referring to fig. 7, two sets of feeler assemblies 252 are provided, and the two sets of feeler assemblies 252 are disposed in parallel.
Further, as a preferred embodiment, the feeler assembly 252 includes a feeler 253, a quick-replaceable holder 254, a quick-replaceable pin 255, a rotary holder 256, and a pull pressure sensor 257, wherein one end of the pull pressure sensor 257 is provided with a connecting plate 258 connected to the second driving cylinder 251, the other end of the pull pressure sensor 257 is provided with the rotary holder 256, one end of the rotary holder 256 is provided with the quick-replaceable holder 254, the quick-replaceable pin 255 is provided on the quick-replaceable holder 254, and one end of the quick-replaceable holder 254 is provided with the feeler 253. In this embodiment, the feeler 253 is connected to the quick-replaceable bracket 254 by clamping, and is positioned by the quick-replaceable pin 255 and fixed by a screw; the quick-change bracket 254 is directly inserted into the rotary bracket 256, can freely rotate 360 degrees and is locked by a screw; the pull pressure sensor 257 is placed at the tail to ensure that the second driving cylinder 251 can perform the gap detection operation according to the specified pull pressure. In this embodiment, when in use, first, the robot 21 will hold the tightening and detecting hand grip 22 to pick up the screw, after the brake drum is installed ready, the robot 21 will hold the device to complete the tightening operation, then, the robot 21 will hold the tightening and detecting hand grip to move to the gap detection position of the axle assembly, the camera component 26 shoots the gap detection hole and performs positioning correction, the second driving cylinder 251 in the brake gap detection component 25 will drive the feeler gauge component 252 to extend into the brake gap, and when the axle brake enters the braking state, the second driving cylinder 251 in the brake gap component drives the feeler gauge component 252 to retract. If the axle brake drum is assembled properly, the feeler assembly 252 will not be pulled out at the specified time and torque, otherwise, it will be installed improperly. Finally, the components are reset and the robot 21 returns to the waiting position and proceeds to the next flow.
The following describes a preferred method for using the robot tightening detection device for axle brake drum installation in the present invention:
the application method of the robot tightening detection device for mounting the axle brake drum comprises the following steps:
s1, a robot 21 holds a screw to be screwed, and a detection hand grip 22 picks up the screw to be screwed;
s2, waiting for the completion of the installation of the brake drum, and completing the screwing operation by the robot 21;
s3, the robot 21 moves to a gap detection position;
s4, the robot 21 is screwed by hand, and the shooting gap detection hole of the hand grip 22 is detected and corrected;
s5, the second driving cylinder 251 drives the feeler assembly 252 to extend out into a braking gap, and waits for the brake of the axle assembly to brake and enter a braking state;
s6, the second driving cylinder 251 drives the feeler assembly 252 to retract;
and S7, judging whether the test result is qualified, if so, executing the step S8.1, and if not, executing the step S8.2.
S8.1, releasing a brake of the axle assembly, and moving the robot 21 to an initial position;
s8.2, alarming and prompting.
The foregoing description is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, and it will be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included within the scope of the present invention.
Claims (6)
1. The device is characterized by comprising a screw and feeding dispensing system, a screwing and detecting robot system, a brake drum assembling robot system and a brake drum feeding system, wherein one side of the screw and feeding dispensing system is provided with the screwing and detecting robot system and the brake drum assembling robot system, and one side of the brake drum assembling robot system is provided with the brake drum feeding system;
the tightening and detecting robot system comprises a robot and a tightening and detecting hand grip arranged on the robot, wherein the tightening and detecting hand grip comprises a hand grip main body support, a screw tightening assembly, a brake clearance detection assembly and a camera assembly, the hand grip main body support is connected with the robot, the screw tightening assembly is arranged at the upper end of the hand grip main body support, and the brake clearance detection assembly and the camera assembly are arranged at the lower end of the hand grip main body support;
the brake clearance detection assembly comprises a second driving cylinder and a feeler assembly, the second driving cylinder is connected with the hand-grabbing main body support, and the second driving cylinder drives the feeler assembly;
the feeler gauge assembly comprises a feeler gauge, a quick-change bracket, a quick-change pin, a rotating bracket and a pulling pressure sensor, wherein one end of the pulling pressure sensor is provided with a connecting plate connected with a second driving cylinder, the other end of the pulling pressure sensor is provided with the rotating bracket, one end of the rotating bracket is provided with the quick-change bracket, the quick-change pin is arranged on the quick-change bracket, and one end of the quick-change bracket is provided with the feeler gauge.
2. The apparatus for detecting screw tightening for installing an axle brake drum according to claim 1, wherein the screw tightening assembly includes a tightening system, a first driving cylinder, a slide mechanism bracket, a telescoping amount adjusting assembly, an adsorption assembly bracket, and an adsorption assembly, the slide mechanism bracket and the adsorption assembly bracket are provided on both sides of the grip main body bracket, the first driving cylinder, the tightening system, and the telescoping amount adjusting assembly are provided on the slide mechanism bracket, and the first driving cylinder drives the tightening system, the adsorption assembly is provided on the adsorption assembly bracket, and the tightening system is connected with the adsorption assembly.
3. The apparatus for detecting the tightening of a brake drum for an axle according to claim 2, further comprising a slide rail pair provided on the slide mechanism bracket, and the tightening system is connected to the slide rail pair.
4. The device for detecting the tightening of the axle brake drum installation robot according to claim 2, wherein the adsorption assembly comprises an adsorption sleeve, a batch head, an angular contact ball bearing and an adsorption air tap, one end of the batch head is installed in the adsorption sleeve through two angular contact ball bearings, and the adsorption air tap is arranged on the outer wall of the adsorption sleeve.
5. The robotic tightening detection device for axle brake drum mounting as defined in claim 4, further comprising an adapter sleeve through which the other end of the head is connected to the tightening system.
6. A method of using the robotic tightening detection device for axle brake drum installation, comprising the robotic tightening detection device for axle brake drum installation of any one of claims 1-5, the method of using comprising:
s1, a robot is used for manually tightening and detecting a manually-grabbing pick-up tightening screw;
s2, waiting for the completion of the installation of the brake drum, and completing the screwing operation by the robot;
s3, the robot moves to a gap detection position;
s4, the robot holds the tightening and detecting hand snapshot shooting gap detection holes and corrects the holes;
s5, the second driving cylinder drives the feeler gauge assembly to extend out into the braking gap, and the braking of the brake of the axle assembly is waited for and the braking state is entered;
s6, the second driving cylinder drives the feeler gauge assembly to retract;
s7, judging whether the test result is qualified, if yes, executing S8.1, and if not, executing S8.2;
s8.1, releasing the brake of the axle assembly, and moving the robot to an initial position;
s8.2, alarming and prompting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210577434.2A CN114799804B (en) | 2022-05-25 | 2022-05-25 | Robot tightening detection device for axle brake drum installation and application method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210577434.2A CN114799804B (en) | 2022-05-25 | 2022-05-25 | Robot tightening detection device for axle brake drum installation and application method thereof |
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| CN114799804A CN114799804A (en) | 2022-07-29 |
| CN114799804B true CN114799804B (en) | 2024-04-05 |
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| CN110449876B (en) * | 2019-08-14 | 2021-02-02 | 上海发那科机器人有限公司 | Main tire mounting and screwing device for variable-pitch robot and working method of main tire mounting and screwing device |
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