CN115870735A

CN115870735A - Mobile automatic bolt disassembling robot and control method

Info

Publication number: CN115870735A
Application number: CN202310002990.1A
Authority: CN
Inventors: 韩希君; 郑勇; 司建军; 白水; 李佩东
Original assignee: Guoneng Baorixile Energy Co ltd
Current assignee: Guoneng Baorixile Energy Co ltd
Priority date: 2023-01-03
Filing date: 2023-01-03
Publication date: 2023-03-31

Abstract

The invention provides a movable automatic bolt disassembling robot and a control method, wherein the robot comprises a movable trolley, a mechanical arm, a controller, a visual guide part, a disassembling device and a control system, wherein the mechanical arm, the controller and the control system are all arranged on the movable trolley; the mobile trolley is used for moving on the ground, the controller controls the working posture of the mechanical arm according to an instruction of the control system, the visual guide part is used for detecting the position of a bolt to be disassembled, the mechanical arm is used for driving the disassembling device to move to the position of the bolt, and the disassembling device is used for disassembling the bolt. According to the scheme, the automatic position detection and the disassembly of the bolt can be realized, the automation degree is improved, the operation of personnel can be reduced, and the efficiency is improved.

Description

Mobile automatic bolt dismounting robot and control method

Technical Field

The invention relates to the technical field of bolt dismounting, in particular to a movable automatic bolt dismounting robot and a control method.

Background

The disassembly work of large-size fastening bolts such as mine truck tires is mainly completed by manual operation, the disassembly tool is dozens of kilograms in weight, the disassembly strength is extremely high, multiple persons are required to complete the disassembly work cooperatively, the labor is consumed, and the efficiency is low.

In the prior art, devices capable of replacing manual bolt dismounting exist, and CN202022906991 discloses a torque wrench power assisting arm for tyre bolt dismounting of a mining heavy truck, which comprises a trolley, wherein an upright post is fixedly connected to the trolley; the upright post is rotationally connected with the balance rod bracket through a first rotating shaft; the upper end of the balance rod bracket is rotatably connected with the balance rod in a vertical plane through a second rotating shaft; one end of the balance rod is connected with an adjusting rod; the adjusting rod is detachably connected with a balancing weight; the other end of the balance rod is rotatably connected with one end of the first connecting rod in the horizontal plane through a third rotating shaft, the other end of the first connecting rod is rotatably connected with one end of the second connecting rod in the horizontal plane, and the other end of the second connecting rod is rotatably connected with the clamping mechanism through a fourth rotating shaft. According to the invention, the torque wrench is clamped by the mechanical power-assisted arm instead of manually holding the torque wrench, so that the labor intensity of workers is reduced, and potential safety hazards caused by improper operation in the use process are reduced. But the existing bolt dismounting device still has the problems of low automation degree and the like.

Disclosure of Invention

The invention provides a movable automatic bolt dismounting robot and a control method, which aim to improve the automation degree of the conventional bolt dismounting device.

In order to achieve the above object, according to one aspect of the present invention, the present invention provides a mobile bolt automatic detaching robot, including a mobile cart, a mechanical arm, a controller, a visual guide, a detaching device and a control system, wherein the mechanical arm, the controller and the control system are all disposed on the mobile cart, the visual guide and the detaching device are all disposed on the mechanical arm, the mobile cart, the controller, the visual guide and the detaching device are all electrically connected to the control system, and the mechanical arm and the controller are electrically connected; the mobile trolley is used for moving on the ground, the controller controls the working posture of the mechanical arm according to an instruction of the control system, the visual guide portion is used for detecting the position of a bolt to be disassembled, the mechanical arm is used for driving the disassembling device to move to the position of the bolt, and the disassembling device is used for disassembling the bolt.

Further, dismounting device includes mounting bracket, electronic dismantlement rifle, dowel bar and sleeve, and the mounting bracket is fixed on the arm, and electronic dismantlement rifle is installed on the mounting bracket, and the sleeve setting is in the one end of dowel bar, and the sleeve is used for the cover on the bolt, and electronic dismantlement rifle drive dowel bar and sleeve rotate.

Furthermore, the dismounting device also comprises a rod sleeve, the rod sleeve is fixedly connected with the mounting frame, and the dowel bar penetrates through the rod sleeve; wherein the dowel is floatable within a predetermined distance relative to the axial direction of the rod sleeve.

Furthermore, the dismounting device also comprises a counter-force structure, the counter-force structure is arranged on the rod sleeve, and the counter-force structure is used for being abutted to the hub of the mounting bolt.

Further, the dismounting device comprises a plurality of sleeves of different sizes, each sleeve being detachably connected with the dowel.

Further, the vision guide part comprises a camera, and the camera is installed on the installation frame.

Furthermore, the travelling car includes chassis and a plurality of mike's wheel, and a plurality of mike's wheel distribute in the bottom of chassis, and arm, controller, control system all set up on the chassis.

Furthermore, the mobile trolley also comprises a plurality of hydraulic support legs, the hydraulic support legs are distributed on the chassis, and the hydraulic support legs have a support state of abutting against the ground and a retraction state of separating from the ground.

Further, the mechanical arm is a six-axis mechanical arm.

According to another aspect of the present invention, there is provided a control method for a mobile bolt robot as described above, the control method including: controlling the movable trolley to move to a set position; the visual guide part photographs the standard reference object and completes the visual calibration of the visual guide part; the visual guide part photographs the bolt to be disassembled; the control system calculates the bolt position under the real coordinate system according to the bolt photo and the matrix parameters calibrated by the vision; the controller acquires the position of the bolt and controls the mechanical arm to move; the mechanical arm drives the dismounting device to move to the position of the bolt; the dismounting device is used for dismounting the bolt.

The technical scheme of the invention is applied, and the movable automatic bolt disassembling robot comprises a movable trolley, a mechanical arm, a controller, a visual guide part, a disassembling device and a control system, wherein the mechanical arm, the controller and the control system are all arranged on the movable trolley; the mobile trolley is used for moving on the ground, the controller controls the working posture of the mechanical arm according to an instruction of the control system, the visual guide part is used for detecting the position of a bolt to be disassembled, the mechanical arm is used for driving the disassembling device to move to the position of the bolt, and the disassembling device is used for disassembling the bolt. By adopting the scheme, the position of the bolt to be disassembled can be detected through the visual guide part, then the mechanical arm drives the disassembling device to move to the position of the bolt according to the detected position, and the disassembling device then disassembles the bolt. According to the scheme, the automatic position detection and the disassembly of the bolt can be realized, the automation degree is improved, the operation of personnel can be reduced, and the efficiency is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural diagram illustrating a mobile automatic bolt dismounting robot according to an embodiment of the present invention;

figure 2 shows a perspective view of the dismounting device in figure 1;

figure 3 shows an axial cross-section of the dismounting device of figure 2;

fig. 4 shows a radial cross-section of the dismounting device in fig. 2.

Wherein the figures include the following reference numerals:

10. moving the trolley; 11. a chassis; 12. a McRam wheel; 13. a hydraulic leg; 20. a mechanical arm; 30. a controller; 40. a visual guide; 50. disassembling the device; 51. a mounting frame; 52. electrically disassembling the gun; 53. a dowel bar; 54. a sleeve; 55. a rod sleeve; 56. a counter-force structure; 57. a guide shaft; 58. an axial spring; 59. a circumferential spring; 60. and (5) controlling the system.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It should be apparent that the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

As shown in fig. 1 to 4, an embodiment of the present invention provides a mobile automatic bolt detaching robot, including a mobile cart 10, a robot arm 20, a controller 30, a visual guide 40, a detaching device 50 and a control system 60, where the robot arm 20, the controller 30 and the control system 60 are all disposed on the mobile cart 10, the visual guide 40 and the detaching device 50 are all disposed on the robot arm 20, the mobile cart 10, the controller 30, the visual guide 40 and the detaching device 50 are all electrically connected to the control system 60, and the robot arm 20 and the controller 30 are electrically connected; the mobile trolley 10 is used for moving on the ground, the controller 30 controls the working posture of the mechanical arm 20 according to an instruction of the control system 60, the visual guide part 40 is used for detecting the position of a bolt to be disassembled, the mechanical arm 20 is used for driving the disassembling device 50 to move to the position of the bolt, and the disassembling device 50 is used for disassembling the bolt.

With the adoption of the scheme, the position of the bolt to be disassembled can be detected through the visual guide part 40, then the mechanical arm 20 drives the disassembling device 50 to move to the position of the bolt according to the detected position, and the disassembling device 50 then disassembles the bolt. According to the scheme, the automatic position detection and the disassembly of the bolt can be realized, the automation degree is improved, the operation of personnel can be reduced, and the efficiency is improved.

As shown in fig. 2 to 4, the detaching device 50 includes a mounting frame 51, an electric detaching gun 52, a dowel bar 53 and a sleeve 54, the mounting frame 51 is fixed on the robot arm 20, the electric detaching gun 52 is mounted on the mounting frame 51, the sleeve 54 is arranged at one end of the dowel bar 53, the sleeve 54 is used for being sleeved on a bolt, and the electric detaching gun 52 drives the dowel bar 53 and the sleeve 54 to rotate. Mounting bracket 51 is used for connecting and supporting, and electronic dismantlement rifle 52 is current structure for provide drive power, drives sleeve 54 through dowel bar 53 and rotates, realizes dismantling the bolt through the rotation of sleeve 54.

In this embodiment, the detaching device 50 further includes a rod sleeve 55, the rod sleeve 55 is fixedly connected with the mounting frame 51, and the dowel bar 53 passes through the rod sleeve 55; wherein the dowel 53 is floatable within a predetermined distance with respect to the axial direction of the rod housing 55. The dowel 53 is axially floatable within a predetermined distance relative to the stem sleeve 55, which facilitates the coupling of the sleeve 54 and the corresponding bolt. And, the dowel bar 53 is floated within a predetermined angle with respect to the circumferential direction of the rod housing 55 to compensate for an alignment error of the sleeve 54 with the bolt.

Optionally, the dismounting device 50 further comprises an axial spring 58 and a guide shaft 57, the guide shaft 57 penetrates into the axial spring 58 to support the axial spring 58, one end of the axial spring 58 abuts against the mounting frame 51, the other end of the axial spring 58 is located in the hole of the dowel 53 and abuts against the dowel 53, and the force towards the sleeve 54 is applied to the dowel 53 through the axial spring 58. It will also be appreciated that the transfer rod 53 is axially telescopic to facilitate the abutment of the sleeve 54 with the bolt.

Optionally, the dismounting device 50 further includes a plurality of circumferential springs 59, four circumferential springs 59 being respectively installed at circumferential edges of the dowel 53, and the dowel 53 is allowed to float within a predetermined angle with respect to the circumferential direction of the rod sleeve 55 by the circumferential springs 59.

As shown in fig. 2, the detaching device 50 further includes a reaction structure 56, the reaction structure 56 is provided on the rod cover 55, and the reaction structure 56 is used to abut against the hub of the mounting bolt. Therefore, the torque borne by the dowel bar 53 can be transmitted to the hub of the mounting bolt through the bar sleeve 55 and the reaction structure 56, and the mechanical arm 20 is prevented from being damaged due to overlarge torque.

The dismounting device 50 comprises a plurality of differently sized sleeves 54, each sleeve 54 being detachably connected to a dowel 53. Therefore, the bolt can be matched with bolts of different specifications, and the universality of the dismounting device is improved.

Specifically, the vision guide 40 includes a camera mounted on the mounting frame 51, so that an area requiring an operation can be clearly photographed.

As shown in fig. 1, the mobile cart 10 includes a chassis 11 and a plurality of maclam wheels 12, the plurality of maclam wheels 12 are distributed on the bottom of the chassis 11, and the robot arm 20, the controller 30, and the control system 60 are all disposed on the chassis 11. By adopting the Mecanum wheel technology, the all-dimensional movement of the vehicle body such as straight movement, lateral movement, diagonal movement, autorotation, combined drift and the like can be realized without assembling a wheel steering device, the zero turning radius, lateral movement and all-dimensional random drift without dead angles can be realized, and the Mecanum wheel has the characteristics of four-wheel independent drive, precise micromotion, precise positioning and the like.

Further, the mobile cart 10 further comprises a plurality of hydraulic legs 13, the plurality of hydraulic legs 13 being distributed on the chassis 11, the hydraulic legs 13 having a support state abutting the ground and a stowed state separated from the ground. After the movable trolley 10 moves to the set position, the movable trolley 10 can be stably fixed through the supporting effect of the plurality of hydraulic support legs 13, so that the operation of detaching the bolt is convenient.

Wherein, the mechanical arm 20 is a six-axis mechanical arm, so that the degree of freedom is high and the movement is flexible.

Another embodiment of the present invention provides a control method for the above mobile bolt automatic detaching robot, where the control method includes: controlling the movable trolley 10 to move to a set position; the vision guiding part 40 takes a picture of the standard reference object and completes the vision calibration of the vision guiding part 40; the visual guide part 40 photographs the bolt to be disassembled; the control system 60 calculates the bolt position in the real coordinate system according to the bolt photo and the matrix parameters of the visual calibration; the controller 30 acquires the position of the bolt and controls the movement of the robot arm 20; the mechanical arm 20 drives the dismounting device 50 to move to the position of the bolt; the detaching device 50 detaches the bolt. By the method, automatic operation of bolt disassembly can be realized, labor is saved, and safety and operation efficiency are improved.

The invention relates to a movable automatic bolt dismounting robot which comprises a movable trolley, a mechanical arm controller, a visual guide part, a control system and a dismounting device. The moving trolley is used for bearing the whole device, and the controller enables the mechanical arm to reach various postures set by the control system; the visual guide part carries out visual calculation on the tire to be disassembled and provides coordinate information of each fastening bolt to be disassembled; the control system sets the working posture of the mechanical arm to the controller according to the acquired coordinate information of the fastening bolt; the dismounting device can realize 4000Nxm bolt dismounting torque and realize dismounting of a tire fastening bolt; the control system is electrically connected with the controller, the visual guide part and the dismounting device. Visual guide portion and dismounting device install on the arm. The tire fastening bolt dismounting device can finish the dismounting work of the tire fastening bolt only by one-man operation, and the whole dismounting system is mobile, flexible and convenient to dismount, low in noise and capable of greatly reducing the labor intensity of workers.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by 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.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

For ease of description, spatially relative terms such as "over 8230," "upper surface," "above," and the like may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; above" may include both orientations "at 8230; \8230; above" and "at 8230; \8230; below". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

Claims

1. The movable automatic bolt disassembling robot is characterized by comprising a movable trolley (10), a mechanical arm (20), a controller (30), a visual guide part (40), a disassembling device (50) and a control system (60), wherein the mechanical arm (20), the controller (30) and the control system (60) are all arranged on the movable trolley (10), the visual guide part (40) and the disassembling device (50) are all arranged on the mechanical arm (20), the movable trolley (10), the controller (30), the visual guide part (40) and the disassembling device (50) are all electrically connected with the control system (60), and the mechanical arm (20) is electrically connected with the controller (30); the mobile trolley (10) is used for moving on the ground, the controller (30) controls the working posture of the mechanical arm (20) according to an instruction of the control system (60), the visual guide part (40) is used for detecting the position of a bolt to be disassembled, the mechanical arm (20) is used for driving the disassembling device (50) to move to the position of the bolt, and the disassembling device (50) is used for disassembling the bolt.

2. The mobile automatic bolt dismounting robot according to claim 1, characterized in that said dismounting device (50) comprises a mounting bracket (51), an electric dismounting gun (52), a dowel bar (53) and a sleeve (54), said mounting bracket (51) is fixed on said robot arm (20), said electric dismounting gun (52) is mounted on said mounting bracket (51), said sleeve (54) is arranged at one end of said dowel bar (53), said sleeve (54) is used for sleeving said bolt, said electric dismounting gun (52) drives said dowel bar (53) and said sleeve (54) to rotate.

3. The mobile automatic bolt dismounting robot according to claim 2, characterized in that said dismounting device (50) further comprises a rod sleeve (55), said rod sleeve (55) is fixedly connected with said mounting frame (51), said dowel bar (53) passes through said rod sleeve (55); wherein the dowel (53) is floatable within a predetermined distance relative to the axial direction of the rod sleeve (55).

4. The mobile bolt robot according to claim 3, characterized in that the dismounting device (50) further comprises a counter-force structure (56), the counter-force structure (56) being arranged on the stem sleeve (55), the counter-force structure (56) being adapted to abut against a hub on which the bolt is mounted.

5. The mobile automatic bolt dismantling robot according to claim 2, characterized in that said dismantling device (50) comprises a plurality of said sleeves (54) of different sizes, each of said sleeves (54) being removably connected to said dowel (53).

6. The mobile bolt robot according to claim 2, characterized in that the vision guide (40) comprises a camera mounted on the mounting frame (51).

7. The mobile automatic bolt dismantling robot according to claim 1, wherein said mobile cart (10) comprises a chassis (11) and a plurality of mikim wheels (12), said plurality of mikim wheels (12) being distributed at the bottom of said chassis (11), said robot arm (20), said controller (30) and said control system (60) being disposed on said chassis (11).

8. The mobile automatic bolt dismounting robot according to claim 7, characterized in that said mobile carriage (10) further comprises a plurality of hydraulic legs (13), said plurality of hydraulic legs (13) being distributed on said chassis (11), said hydraulic legs (13) having a support condition abutting the ground and a stowed condition separated from the ground.

9. A mobile bolt robot according to claim 1, characterised in that the robot arm (20) is a six-axis robot arm.

10. A control method for the mobile automatic bolt dismantling robot according to any one of claims 1 to 9, comprising:

controlling the moving trolley (10) to move to a set position;

the visual guide part (40) photographs a standard reference object and completes the visual calibration of the visual guide part (40);

the visual guide part (40) photographs the bolt to be disassembled;

the control system (60) calculates the bolt position under the real coordinate system according to the bolt photo and the matrix parameters calibrated by the vision;

the controller (30) acquires the position of the bolt and controls the mechanical arm (20) to move;

the mechanical arm (20) drives the dismounting device (50) to move to the position of a bolt;

the detaching device (50) detaches the bolt.