CN116551359A - Automatic tightening work station for supporting piece bolt and automatic tightening process for supporting piece bolt - Google Patents
Automatic tightening work station for supporting piece bolt and automatic tightening process for supporting piece bolt Download PDFInfo
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- CN116551359A CN116551359A CN202310443820.7A CN202310443820A CN116551359A CN 116551359 A CN116551359 A CN 116551359A CN 202310443820 A CN202310443820 A CN 202310443820A CN 116551359 A CN116551359 A CN 116551359A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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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Abstract
The invention relates to the field of engineering machinery support assembly, in particular to an automatic support bolt tightening workstation, which comprises: the support member carrying robot assembly comprises a carrying robot, a carrying clamp and a carrying positioning visual identification system, wherein the support member is carried on a support member mounting base frame, so that positioning mounting features between the support member and the support member mounting base frame are aligned; the support member bolt tightening robot assembly comprises a tightening robot, a tightening clamp and a tightening visual identification system, and is used for confirming whether positioning installation features between a support member and a support member installation base frame are aligned or not and tightening corresponding tightening sleeves and bolts in an aligned state; a control system communicatively coupled to the support bolt tightening robot assembly and the support transfer robot assembly. The automatic tightening workstation for the supporting piece bolts can automatically complete workpiece loading, assembly and tightening, and the automatic assembly effectively ensures the reliability, traceability and safety of the process.
Description
Technical Field
The invention relates to the field of engineering machinery support assembly, in particular to an automatic support bolt tightening workstation. In addition, the invention also relates to an automatic screwing process of the supporting piece bolt.
Background
Slewing bearing provides stable rotary motion for equipment and is widely applied to engineering machinery. The rotary support is an important transmission part for finishing rotary motion between the rotary table and the lower frame and bearing axial force, radial force and tipping moment, and is assembled as a key process for engineering machinery manufacture.
The common assembly flow of the slewing bearing is as follows; firstly, a forklift conveys a pallet loaded with a slewing bearing to a designated position beside a station, and materials of different types are required to be respectively provided with corresponding buffer areas; secondly, operators manually identify materials of corresponding models, and are provided with lifting devices such as lifting screws, one operator uses lifting equipment to place the slewing bearing on the lower frame, the other operator assists in moving and uses crowbars to align holes, and the installation direction of the slewing bearing needs to be manually identified during placement; finally, two operators are required to operate at two separate sides, after the specification of the bolts is identified to be correct manually, the bolts are screwed into the mounting holes 3-4 teeth manually, then the bolts are pre-tightened in sequence in a crisscross mode by using an electric impact wrench, then the bolts are sequentially forced and fastened in a crisscross mode by using a torque wrench in a double-person matching mode, in the pre-tightening and forced fastening processes, in order to ensure that each bolt is not leaked, an identifier is required to be drawn after each bolt is screwed as an error-proofing means, and because the screwing torque is large, the workers are required to continuously adjust the station position or increase the station to finish the work of fastening the supporting piece.
The assembly process of the conventional slewing bearing has the following problems: two workers are required to be equipped, the tightening target torque is large, the torque wrench is large in size and heavy in weight, the operation work is easy to fatigue after long-time operation, and the safety risk exists.
In view of this, there is a need to provide a support bolt tightening solution to solve or overcome the above-mentioned technical problems.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the automatic tightening workstation for the supporting piece bolts, which can automatically complete the loading, the assembly and the tightening of the supporting piece, has high automation degree, reduces the labor intensity and ensures the operation safety.
In addition, the technical problem to be solved by the invention is to provide an automatic support bolt tightening process, which can carry out the tightening work of the support bolt with higher automation degree, thereby reducing the labor intensity and ensuring the operation safety.
In order to solve the above technical problems, the present invention provides an automatic tightening station for a support bolt, comprising: a support handling robot assembly comprising a handling robot, a handling fixture, and a handling location visual identification system for identifying a location mounting feature on a support and handling the support, adjusting the support by adjusting the attitude of the handling fixture to handle the support onto a support mounting base frame and to align the location mounting feature between the support and the support mounting base frame; the support bolt tightening robot assembly comprises a tightening robot, an automatic tightening clamp installed on the tightening robot and a tightening visual identification system arranged on the automatic tightening clamp, and is used for identifying positioning installation features on the support installation base frame, confirming whether the positioning installation features between the support and the support installation base frame are aligned or not, and tightening by using corresponding tightening sleeves and bolts in an aligned state; and the control system is in communication connection with the support bolt tightening robot assembly and the support transfer robot assembly to receive the positioning and mounting characteristic signals identified by the tightening visual identification system and the transfer positioning visual identification system and cooperatively control the support bolt tightening robot assembly and the support transfer robot assembly to work.
Preferably, the support bolt tightening robot assembly is configured to identify a locating mounting feature on the support mounting base frame by the tightening fixture visual identification system after the support mounting base frame is transported to a tightening station and to communicate the locating mounting feature on the support mounting base frame to the control system.
Preferably, the handling positioning visual identification system comprises: and the control system is configured to adjust the carrying clamp according to the first identification of the positioning and mounting feature on the support so as to ensure that the carrying clamp carries the support in a preset relative position relation with the positioning and mounting feature on the support.
Preferably, the handling positioning visual recognition system further comprises: the secondary positioning visual recognition system is arranged between the buffer area and the tightening station and is used for secondarily recognizing the positioning and mounting features on the supporting piece, and the control system calculates the relative position relation between the positioning and mounting features on the supporting piece and the positioning and mounting features on the supporting piece mounting base frame according to the secondary recognition.
Preferably, the control system is further configured to adjust the handling clamp according to a relative positional relationship between the locating mounting features on the support and the locating mounting features on the support mounting base frame after the support is handled over the support mounting base frame so that the locating mounting features between the support and the support mounting base frame are aligned.
Preferably, the secondary positioning visual identification system is a ground camera assembly for identifying the support bottom positioning mounting feature.
Preferably, the locating mounting features on the support are support bolt mounting holes and support locating pin holes on the support, and the support mounting base frame is a support mounting base frame bolt mounting hole and a support mounting base frame locating pin hole corresponding to the mounting locating features on the support.
Preferably, the support bolt tightening robot assembly is further configured to take corresponding marking means for tightening identification after tightening is completed.
Preferably, the control system is used for identifying whether the used bolt is provided with a gasket or not when controlling the supporting piece bolt tightening robot to assemble and use the corresponding tightening sleeve and the bolt, and alarming when the bolt is not provided with the gasket, and the matched tightening sleeve is used according to the corresponding bolt to be installed on the sleeve quick-changing mechanism of the automatic tightening clamp when the bolt is provided with the gasket.
Preferably, a support transport system is also included for transporting the support to a buffer zone of the support.
Preferably, the carrying clamp comprises a carrying clamp mounting plate, a carrying clamp guide rail slide block assembly and a carrying clamp telescopic cylinder are mounted on the carrying clamp mounting plate, a telescopic piece of the carrying clamp telescopic cylinder is connected with a carrying clamp slide block of the carrying clamp guide rail slide block assembly, so that the carrying clamp slide block of the carrying clamp guide rail slide block assembly can slide along a carrying clamp guide rail through telescopic driving of the carrying clamp telescopic cylinder, and clamping jaws for clamping the supporting piece are mounted on the carrying clamp slide block.
Preferably, the automatic tightening clamp comprises a tightening clamp mounting plate, a tightening clamp guide rail sliding block assembly and a tightening clamp telescopic cylinder are mounted on the tightening clamp mounting plate, a telescopic piece of the tightening clamp telescopic cylinder is connected with a tightening clamp sliding block of the tightening clamp guide rail sliding block assembly, the tightening clamp sliding block of the tightening clamp guide rail sliding block assembly can slide along the tightening clamp guide rail through telescopic driving of the tightening clamp telescopic cylinder, and tightening equipment with a tightening sleeve quick-change mechanism for tightening bolts is mounted on the tightening clamp sliding block.
Preferably, the control system includes a first robotic control cabinet for controlling the support handling robot assembly, a second robotic control cabinet for controlling the support bolt tightening robot assembly, and a tightening controller for controlling the automatic tightening clamp, the first robotic control cabinet, the second robotic control cabinet, and the tightening controller being in communication with one another.
Correspondingly, the invention also provides an automatic tightening process of the supporting piece bolt, which comprises the following steps: firstly, conveying a supporting piece installation base frame to a tightening station, and collecting positioning installation characteristic signals on the supporting piece installation base frame; second, collect the locating installation characteristic signal on the support, and convey the support to the above of the said support installation bed frame; thirdly, calculating a position difference between the positioning mounting feature of the support and the positioning mounting feature of the support mounting base frame according to the relative position relation between the two, adjusting the support so that the positioning mounting feature between the support and the support mounting base frame is aligned, and placing the support on the support mounting base frame; fourth, the supporting member and the supporting member installation base frame are fastened and connected through bolts.
Preferably, in the second step, the positioning and mounting feature on the support member is first identified in the buffer area of the support member by a first positioning and visual identification system, and the carrying clamp of the support member is adjusted according to the first identification of the positioning and mounting feature on the support member, so as to ensure that the carrying clamp carries the support member in a preset relative position relation with the positioning and mounting feature on the support member.
Preferably, the locating mounting features on the support are secondarily identified by a secondary locating visual identification system disposed between the buffer zone and the tightening station, and the relative positional relationship between the locating mounting features on the support and the locating mounting features on the support mounting base frame is calculated from the secondary identification.
Preferably, the locating mounting features on the support are support bolt mounting holes and support locating pin holes on the support, and the support mounting base frame is a support mounting base frame bolt mounting hole and a support mounting base frame locating pin hole corresponding to the mounting locating features on the support.
Preferably, the support bolt automatic tightening process is performed using the support bolt automatic tightening station according to any one of the above-described technical solutions.
Through the technical scheme, the invention has the following beneficial effects:
the automatic tightening work station of the support bolt of the invention, because it comprises: the support member handling robot assembly comprises a handling robot, a handling clamp and a handling positioning visual identification system, wherein the handling positioning visual identification system can identify positioning installation features on a support member, the handling robot drives the handling clamp to handle the support member, the posture of the handling clamp is adjusted so as to adjust the posture of the support member, the support member is conveyed to a support member installation base frame, and the positioning installation features between the support member and the support member installation base frame are ensured to be aligned; the support piece bolt tightening robot assembly comprises a tightening robot, wherein an automatic tightening clamp is arranged on the tightening robot, a tightening visual identification system is arranged on the automatic tightening clamp, the tightening visual identification system can identify positioning installation features on a support piece installation base frame on one hand, and can confirm whether the positioning installation features between a support piece and the support piece installation base frame are aligned or not on the other hand, and the tightening robot controls the automatic tightening clamp to take corresponding tightening sleeves and bolts for tightening in an aligned state; the control system is in communication connection with the support bolt tightening robot assembly and the support transfer robot assembly, can receive positioning and mounting characteristic signals identified by the tightening visual identification system and the transfer positioning visual identification system, and coordinate and control the support bolt tightening robot assembly and the support transfer robot assembly to work. Therefore, the workstation can automatically complete the loading, assembly and screwing of the supporting piece, has high automation degree, reduces labor intensity and ensures safety.
Other features of the present invention and advantages thereof will be described in the detailed description that follows.
Drawings
FIG. 1 is an overall layout of an automatic support bolt tightening station according to an embodiment of the present invention;
FIG. 2 is a schematic view of a support handling robot assembly of an automatic support bolt tightening workstation according to an embodiment of the present invention;
FIG. 3 is a schematic side view of a transfer jig in the support transfer robot assembly of FIG. 2;
FIG. 4 is a schematic top view of the carrier clamp in the carrier robot assembly of FIG. 2;
FIG. 5 is a schematic view of a support bolt tightening robot assembly of an automatic support bolt tightening workstation according to an embodiment of the present invention;
FIG. 6 is a schematic side elevational view of an intermediate automatic tightening clamp of the support bolt tightening robot assembly of FIG. 5;
FIG. 7 is a schematic top view of an intermediate automatic tightening clamp of the support bolt tightening robot assembly of FIG. 5;
FIG. 8 is a schematic view of the structure of the lower frame in the automatic tightening station for the support bolts according to the embodiment of the present invention;
fig. 9 is a flow chart of the automatic tightening process of the support bolt of the present invention.
Reference numerals illustrate:
1. a support; 11. the support piece positioning pin holes; 12. a support bolt mounting hole; 2. the supporting piece is provided with a base frame; 21. the supporting piece is provided with a positioning pin hole of the base frame; 22. the supporting piece is provided with a base frame bolt mounting hole; 3. the support transfer robot is assembled; 31. a transfer robot; 32. carrying a clamp; 321. carrying a clamp mounting plate; 322. carrying a clamp telescopic cylinder; 323. carrying a clamp slide block; 324. a clamping jaw; 325. carrying a connecting flange; 33. a primary positioning visual recognition system; 4. the support member bolt tightening robot is assembled; 41. tightening the robot; 42. automatically tightening the clamp; 421. tightening the clamp mounting plate; 422. tightening the clamp telescopic cylinder; 423. tightening the clamp slide block; 424. a tightening device; 425. tightening the connecting flange; 43. tightening the visual recognition system; 5. a buffer area; 6. tightening the controller; 7. a first robotic control cabinet; 8. a bolt feed table; 9. a second robotic control cabinet; 10. a terrestrial camera assembly.
Detailed Description
The following describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
It should be noted first that, in the following description, some directional terms are used to clearly illustrate the technical solution of the present invention, only for convenience of description and simplification of description, and do not indicate or imply that the apparatus or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, and thus, features defining "first," "second," or the like, may explicitly or implicitly include one or more of such features.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; either directly or indirectly via an intermediate medium, or in communication with each other or in interaction with each other. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The basic embodiment of the present invention provides an automatic support bolt tightening station, as shown in fig. 1 to 8, comprising:
a support transfer robot assembly 3 including a transfer robot 31, a transfer jig 32, and a transfer positioning visual recognition system for recognizing a positioning mounting feature on the support 1 and transferring the support 1, adjusting the support 1 by adjusting the posture of the transfer jig 32 to transfer the support 1 onto the support mounting base frame 2, and aligning the positioning mounting feature between the support 1 and the support mounting base frame 2;
a support bolt tightening robot assembly 4 including a tightening robot 41, an automatic tightening jig 42 mounted on the tightening robot 41, and a tightening vision recognition system 43 provided on the automatic tightening jig 42 for recognizing positioning installation features on the support installation base frame 2, the positioning installation features of the support installation base frame 2 including the support installation base frame positioning pin holes 21 and the support installation base frame bolt installation holes 22, and confirming whether the positioning installation features between the support 1 and the support installation base frame 2 are aligned or not, and tightening in an aligned state using the corresponding tightening sleeves and bolts;
And a control system communicatively connected to the support bolt tightening robot assembly 4 and the support transfer robot assembly 3 to receive the positioning and mounting characteristic signals recognized by the tightening vision recognition system 43 and the transfer positioning vision recognition system and to coordinate control of the operations of the support bolt tightening robot assembly 4 and the support transfer robot assembly 3.
In the above-described basic embodiment, as described above, the support member transfer robot assembly 3 includes the transfer robot 31, the transfer jig 32, and the transfer positioning visual recognition system, specifically, the transfer jig 32 may be mounted on the transfer robot 31 through the transfer connection flange 325, the transfer positioning visual recognition system may recognize the positioning mounting feature on the support member 1, the posture of the transfer jig 32 is adjusted accordingly by the transfer robot 31 after recognition, and after adjustment, the support member 1 is transferred onto the support member mounting base frame 2 in a state where the positioning mounting feature between the support member 1 and the support member mounting base frame 2 is aligned. Here, it should be emphasized that the support 1 may typically be an excavator slewing bearing, and the support mounting base frame 2 may typically be an excavator lower frame.
The support bolt tightening robot assembly 4 may include a tightening robot 41, the tightening robot 41 may be mounted with an automatic tightening clamp 42 through a tightening connection flange 425, the automatic tightening clamp 42 may be mounted with a tightening visual recognition system 43 through a bolting, welding or snap-fit connection, the tightening visual recognition system 43 may recognize a positioning mounting feature on the support mounting base frame 2, the tightening visual recognition system 43 may also recognize whether the positioning mounting feature between the support 1 and the support mounting base frame 2 is aligned when the support 1 is placed over the support mounting base frame 2, and in the aligned state, take a bolt and a sleeve corresponding to the model of the support 1 to tighten; the control system is in communication connection with the support bolt tightening robot assembly 4 and the support transfer robot assembly 3, namely, the control system can send signals to the support bolt tightening robot assembly 4 and the support transfer robot assembly 3 to enable the support bolt tightening robot assembly 4 and the support transfer robot assembly 3 to generate corresponding actions according to an internally set program, meanwhile, the tightening visual recognition system 43 and the transfer positioning visual recognition system can transmit recognized positioning installation characteristic signals to the control system, the control system controls the postures of the tightening robot 41 on the support bolt tightening robot assembly 4 and the transfer robot 31 on the support transfer robot assembly 3 according to the internally set program, and accurately installs the support 1 on the support installation base frame 2 under the condition that the positioning installation characteristic on the support 1 is aligned with the positioning installation characteristic of the support installation base frame 2, the tightening robot 41 controls the automatic tightening clamp 42 to take the bolts, the support 1 and the support installation base frame 2 are fastened together, the safety is ensured, the hoisting operation is avoided, and the labor cost is saved.
The specific working process is as follows: firstly, conveying the support mounting base frame 2 to a screwing station through a conveying system of a workstation, collecting positioning and mounting characteristic signals on the support mounting base frame 2 through a screwing visual identification system 43, and conveying the identified positioning and mounting characteristic signals on the support mounting base frame 2 to a control system; secondly, the carrying positioning visual recognition system collects positioning and mounting characteristic signals on the supporting piece 1, the process comprises two data collection of the positioning and mounting characteristics on the supporting piece 1, after the collection is completed, the carrying robot assembly 3 adjusts the posture of the supporting piece 1, and after the posture adjustment, the supporting piece 1 is carried to the position above the supporting piece mounting base frame 2 through the carrying clamp 32 on the supporting piece carrying robot assembly 3; then, according to the relative position relation between the positioning and mounting features of the supporting piece 1 and the positioning and mounting features of the supporting piece mounting base frame 2, calculating the position difference between the positioning and mounting features by using a computing system of a workstation, adjusting the position of the supporting piece 1 according to the position difference by using a carrying clamp 32 on the carrying robot assembly 3, wherein the carrying robot 31 in the carrying robot assembly 3 consists of a mechanical arm, a plurality of movable joints and connecting rods are arranged on the mechanical arm, a motor can be used as a driving device, the motor drives a speed reducer to transmit power to the movable joints and the connecting rods, the mechanical arm can freely move in a three-dimensional space through the cooperation of the movable joints and the connection, the positioning and mounting features between the supporting piece 1 and the supporting piece mounting base frame 2 are aligned, and the supporting piece 1 is placed on the supporting piece mounting base frame 2; finally, the support 1 and the support mounting base frame 2 are fastened by bolts.
Further, the support bolt tightening robot assembly 4 is configured to identify the locating mounting features on the support mounting base frame 2 by the tightening fixture visual identification system 43 after the support mounting base frame 2 is transported to the tightening station and to communicate the locating mounting features on the support mounting base frame 2 to the control system. In the automatic tightening workstation for the support member bolts, the first step of the working process is to transport the support member mounting base frame 2 to a tightening station by a transport system of the workstation, then a control system sends a command to the tightening robot 41, the tightening robot 41 drives a tightening visual recognition system 43 on an automatic tightening clamp 42 to recognize the positioning and mounting characteristics of the support member mounting base frame 2, after the recognition is finished, the positioning and mounting characteristics information of the support member mounting base frame 2 is fed back to the control system, the control system stores the positioning and mounting characteristics information, after the positioning and mounting visual recognition system recognizes the positioning and mounting characteristics of the support member 1 and the positioning and mounting characteristics information of the mounting base frame 2 stored in the control system, deviation values of the positioning and mounting characteristics of the support member 1 and the positioning and mounting characteristics of the mounting base frame 2 are obtained, the control system adjusts the posture of the support member 1 by a carrying clamp 32 on the carrying robot 31 according to the deviation values, the positioning and mounting characteristics of the support member 1 and the positioning and mounting characteristics of the mounting base frame 2 are aligned by the bolts, manual fixing and mounting of the support member 1 and the support member mounting 2 are carried out by the bolts, high reliability and safety and reliability are ensured at the same time.
Further, the handling positioning visual recognition system includes: a primary positioning visual recognition system 33 provided on the handling clamp 32 for primary recognition of the positioning mounting features on the support 1 in the buffer zone 5 of the support 1, the control system being configured to adjust the handling clamp 32 in accordance with the primary recognition of the positioning mounting features on the support 1 to ensure that the handling clamp 32 handles the support 1 in a predetermined relative positional relationship with the positioning mounting features on the support. It should be noted that, the workstation further includes a support member transporting system, the support member transporting system transports the support member 1 to the buffer zone 5 of the support member, the primary positioning visual recognition system 33 may be mounted on the handling clamp 32 by bolts or welding, the primary positioning visual recognition system 33 captures a positioning mounting feature of the support member 1, which is first recognized in the buffer zone 5, through a camera, the positioning mounting feature of the support member 1 specifically includes a support member bolt mounting hole 12 of the support member 1, a support member positioning pin hole 11, model information of the support member 1, etc., the primary recognition is to prevent the occurrence of a wrong mounting to affect normal production, and to enable the handling clamp 32 to stably clamp the support member 1 to prevent a slip-off from occurring in the handling process to affect normal mounting work of the support member 1, it should be noted that the handling positioning visual recognition system further includes a secondary positioning visual recognition system, which is preferably a ground camera assembly 10, which can recognize a bottom positioning mounting feature of the support member 1, specifically, the handling clamp 32 does not directly mount the support member 1 to the support member 2 to the support member, but to calculate the mounting feature of the support member 1 by further mounting to the support member 1, the positioning visual recognition system is further mounted to the buffer zone 1 by the control information of the support member mounting system, and the control system is further mounted to receive the information of the support member mounting feature, the relative positional relationship between the mounting features of the support 1 and the mounting features of the support mounting base frame 2 is obtained, and then the posture of the carrying jig 32 is adjusted, the mounting features of the support 1 and the mounting features of the support mounting base frame 2 are aligned, and then the subsequent tightening operation of the bolts is performed.
Further, the locating mounting features on the support 1 are support bolt mounting holes 12 and support locating pin holes 11 on the support 1, and the support mounting pedestal 2 is a support mounting pedestal bolt mounting hole 22 and support mounting pedestal locating pin hole 21 corresponding to the mounting locating features on the support 1. It should be noted that, when the handling clamp 32 on the handling robot 31 conveys the support member 1 to above the support member mounting base frame 2, the control system adjusts the handling clamp 32 according to the relative positional relationship between the positioning and mounting features on the support member 1 and the positioning and mounting features on the support member mounting base frame 2, so that the positioning and mounting features between the support member and the support member mounting base frame 2 are aligned, and then the handling clamp 32 places the support member 1 on the support member mounting base frame 2, note that, since the support member mounting base frame bolt mounting hole 22 is a threaded hole, the chamfer and the hole internal thread structure at the hole can scatter light, which affects the stability of capturing the visual image of the camera in the tightening visual recognition system 43, the addition of the support member mounting base frame positioning pin hole 21 can improve the visual detection precision of the tightening visual recognition system 43, thereby guaranteeing the high precision mounting of the support member 1, and the specific operation steps are as follows: the tightening robot 41 drives a camera in the tightening visual recognition system 43 to photograph the support mounting base frame positioning pin holes 21 and three or more support mounting base frame bolt mounting holes 22 of the support mounting base frame 2, the distributed circle centers of the threaded holes of the support mounting base frame bolt mounting holes 22 can be detected according to the positions of the three or more support mounting base frame bolt mounting holes 22, the three-dimensional coordinate positions P1 of the support mounting base frame bolt mounting holes 22 and the support mounting base frame positioning pin holes 21 can be obtained by taking the circle centers as the reference, the standard three-dimensional coordinate positions P0 of the P1 and the workstation system are subjected to three-dimensional coordinate comparison operation, and the position compensation deviation value DeltaP of the P1 and the P0 is calculated according to the formula: Δp=p1-P0, and then the three-dimensional coordinate positions of the support mounting pedestal bolt mounting holes 22 and the support mounting pedestal positioning pin holes 21 are obtained by compensating Δp to the detected distribution circle center positions of the support mounting pedestal bolt mounting holes 22 by the computing system of the workstation.
Further, when the control system controls the support member bolt tightening robot assembly 4 to take the corresponding tightening sleeve and the bolt, the secondary positioning visual recognition system recognizes whether the taken bolt is provided with a gasket, and alarms when the bolt is not provided with the gasket, and the sleeve quick-changing mechanism is installed on the automatic tightening clamp 42 according to the corresponding bolt taking and adapting tightening sleeve under the condition that the bolt is provided with the gasket. The control system controls the support bolt tightening robot assembly 4 to take out the corresponding bolt from the bolt feeding table 8, and as whether the bolt is provided with a gasket or not is detected, the support bolt tightening robot assembly 4 firstly places the taken bolt between the bolt feeding table 8 and the support bolt tightening robot assembly 4, then the secondary positioning visual recognition system recognizes whether the gasket is arranged on the bolt, when the gasket is not arranged, the secondary positioning visual recognition system transmits a signal to the control system, the control system controls the alarm to give an alarm, after the corresponding treatment is carried out on the bolt without the gasket, the treatment is usually carried out manually and uniformly after the assembly of one type of support 1 is completed, when the bolt is provided with the gasket, the support bolt tightening robot assembly 4 uses the corresponding type of tightening sleeve to be arranged on the sleeve quick-changing mechanism of the automatic tightening clamp 42, one embodiment of the sleeve quick-change mechanism comprises a quick-change joint, wherein a locking ring is arranged on the outer ring of the quick-change joint, steel balls are arranged in the quick-change joint, the locking ring and the steel balls are linked through a mandrel, the locking ring can move up and down along the axis of the quick-change joint under the action of external force, the locking ring drives the mandrel to move upwards, the steel balls retract into the quick-change joint, the locking ring drives the mandrel to descend, the mandrel ejects the steel balls and clamps the sleeve, so that the quick-change of different types of sleeves is realized, for one sleeve model, the sleeve quick-change mechanism puts a bolt with a gasket into a bolt mounting hole 12 of a supporting part and a bolt mounting hole 22 of a supporting part mounting base frame, screws the bolt according to the torque set by the system, after one bolt is screwed, the sleeve quick-change mechanism uses the same principle as sleeve replacement to use a corresponding marking device to mark the screwed bolts, wherein the marking device can be a marking pen or a reflective sticker and the like.
As a specific example of the support member transfer robot assembly 3, referring to fig. 2 and 4, the transfer jig 32 includes a transfer jig mounting plate 321, a transfer jig guide rail slider assembly and a transfer jig extension cylinder 322 are mounted on the transfer jig mounting plate 321, and an extension member of the transfer jig extension cylinder 322 is connected to a transfer jig slider 323 of the transfer jig guide rail slider assembly so that the transfer jig slider 323 of the transfer jig guide rail slider assembly can be driven to slide along the transfer jig guide rail by extension and contraction of the transfer jig extension cylinder 322, and a clamping jaw 324 for clamping the support member 1 is mounted on the transfer jig slider 323. The support member handling robot assembly 3 is communicatively connected with a first robot control cabinet 7, the first robot control cabinet 7 controls the cooperation between the handling robot 31, the handling clamp 32 and the primary positioning visual recognition system 33 of the support member handling robot assembly 3, the support member 1 is placed on the support member mounting base frame 2 according to the process requirement, and the clamping process of the handling clamp 32 is as follows: the control system sends out instructions to the carrying clamp telescopic cylinder 322, the telescopic part of the carrying clamp telescopic cylinder 322 drives the clamping jaw 324 on the carrying clamp sliding block 323 to slide along the carrying clamp guide rail to adjust the distance between the two pairs of clamping jaws 324, and the function of clamping the supporting piece 1 can be realized, here, an anti-slip layer for increasing the friction force between the clamping jaw 324 and the supporting piece 1 is arranged on the clamping jaw 324, the anti-slip layer is made of nylon with smaller hardness, the effect of protection can be achieved while the clamping friction force is improved, and the collision and clamping injury to the supporting piece 1 in the clamping process are prevented.
As a specific embodiment of the support bolt tightening robot assembly 4, referring to fig. 5 and 7, the automatic tightening jig 42 includes a tightening jig mounting plate 421, a tightening jig rail slider assembly and a tightening jig extension cylinder 422 are mounted on the tightening jig mounting plate 421, and an extension member of the tightening jig extension cylinder 422 is connected with a tightening jig slider 423 of the tightening jig rail slider assembly so that the tightening jig slider 423 of the tightening jig rail slider assembly can slide along the tightening jig rail by extension and contraction of the tightening jig extension cylinder 423, and a tightening apparatus 424 having a tightening sleeve quick-change mechanism for tightening bolts is mounted on the tightening jig slider 423. The support tightening robot assembly 4 is communicatively connected with the second robot control cabinet 9, the second robot control cabinet 9 controls the tightening robot 41, the automatic tightening clamp 42 and the tightening visual recognition system 43 of the support tightening robot assembly 4 to cooperatively act, and automatically screws bolts into the support bolt mounting holes 12 and the support mounting base frame bolt mounting holes 22 according to the process requirements, so that the purpose of fastening the support 1 and the support mounting base frame 2 is achieved, and the tightening process of the automatic tightening clamp 42 is as follows: the control system sends out instructions to the tightening clamp telescopic cylinder 422, the telescopic part of the tightening clamp telescopic cylinder 422 drives the tightening equipment 424 on the tightening clamp sliding block 423 to slide to the corresponding position along the tightening clamp guide rail, then the tightening operation of the bolts is carried out, the distance between the two pairs of tightening equipment 424 can be adjusted according to the model needs of different supporting parts 1, of course, a single tightening equipment can also be adopted, when the single tightening equipment is adopted, the supporting part installation base frame 2 fixing mechanism needs to be added, the excessive tightening force during tightening can be prevented, the supporting part installation base frame 2 is prevented from being displaced, the tightening equipment 424 can be a tightening shaft, the tightening equipment 424 is connected with the tightening controller 6 through signals, namely, the tightening controller 6 sends instructions to the tightening equipment 424 to tighten the bolts according to a certain torque, the whole tightening process is monitored by the tightening controller 6, the double shafts of the tightening equipment 4 are ensured, the real-time change conditions of key parameters such as torsion, angle and the like can be recorded, and the reliability and the traceability of the tightening of the bolts are ensured.
In addition, on the basis of the automatic tightening workstation of the supporting piece bolt, the invention also provides an automatic tightening process of the supporting piece bolt, which comprises the following steps:
firstly, conveying the support member mounting base frame 2 to a tightening station, and collecting positioning and mounting characteristic signals on the support member mounting base frame 2;
secondly, collecting positioning and mounting characteristic signals on the supporting piece 1 and conveying the supporting piece 1 to the upper part of the supporting piece mounting base frame 2;
thirdly, calculating a position difference between the positioning and mounting features of the support 1 and the positioning and mounting features of the support mounting base frame 2 according to the relative position relation between the two, adjusting the support 1 so that the positioning and mounting features between the support 1 and the support mounting base frame 2 are aligned, and placing the support 1 on the support mounting base frame 2;
fourth, the support 1 and the support mounting base frame 2 are fastened by bolts.
In more detail, in the first step, the installation and positioning features of the support installation pedestal 2 are identified by the tightening visual identification system 43 on the automatic tightening jig 42, where the installation and positioning features mainly include the support installation pedestal bolt installation holes 22 and the support installation pedestal positioning pin holes 21, and then three-dimensional coordinate information of the support installation pedestal bolt installation holes 22 and the support installation pedestal positioning pin holes 21 is transferred to the control system, where the control system stores the data, and in the second step, two installation and positioning feature acquisitions of the support 1 are required, and the primary positioning visual identification system 33 primarily identifies the positioning and installation features on the support 1 in the buffer zone 5 of the support 1, where the installation features include: the support bolt mounting holes 12, the support positioning pin holes 11 and the relevant model information of the support 1 are identified, the relevant information is transmitted to the first robot control cabinet 7 after the positioning mounting characteristics on the support 1 are identified, the first robot control cabinet 7 controls the movement of the carrying clamp 32 on the carrying robot 31, the relative position between the carrying clamp 32 and the positioning mounting characteristics of the support 1 is kept unchanged, the support 1 is carried between the buffer zone 5 and the tightening station, at this time, the secondary positioning vision identifying system again identifies the positioning mounting characteristics on the support 1 and transmits the corresponding positioning mounting characteristic information to the first robot control cabinet 7, and since the first robot control cabinet 7 has collected the positioning mounting characteristic signals on the support mounting base frame 2 in the first step, the relative position relation between the positioning mounting characteristics on the support 1 and the positioning mounting characteristics meter on the support mounting base frame 2 can be calculated, and the positioning mounting characteristics on the support 1 need to be emphasized as the support bolt mounting holes 12 and the support pin holes 11, the support mounting holes 21 and the support pin holes 21 are correspondingly arranged for the support frame mounting holes 21 and the support pin holes 21, and the support pin holes 21 are correspondingly arranged for the support frame mounting holes 21 and the support pin holes 21.
As a relatively preferred embodiment of the present invention, referring to fig. 1 to 8, there is provided an automatic supporter bolt tightening station comprising:
the support member transfer robot assembly 3 comprises a transfer robot 31, a transfer clamp 32 and a transfer positioning visual identification system, wherein the transfer robot 31 is connected with the transfer clamp 32 through a transfer connecting flange 325, the transfer clamp 32 comprises a transfer clamp mounting plate 321, a transfer clamp guide rail slide block assembly and a transfer clamp telescopic cylinder 322 are mounted on the transfer clamp mounting plate 321, a telescopic member of the transfer clamp telescopic cylinder 322 is connected with a transfer clamp slide block 323 of the transfer clamp guide rail slide block assembly, a clamping jaw 324 for clamping the support member 1 is mounted on the transfer clamp slide block 323, the transfer positioning visual identification system comprises a primary positioning visual identification system 33 arranged on the transfer clamp 32 and a secondary positioning visual identification system arranged between the buffer zone 5 and the screwing station, and the secondary positioning visual identification system is a ground camera assembly 10;
the support bolt tightening robot assembly 4 comprises a tightening robot 41, an automatic tightening clamp 42 installed on the tightening robot 41, and a tightening visual recognition system 43 arranged on the automatic tightening clamp 42, the tightening robot 41 is connected with the automatic tightening clamp 42 through a tightening connecting flange 425, the automatic tightening clamp 42 is provided with the tightening visual recognition system 43 through a bolt connection, the automatic tightening clamp 42 comprises a tightening clamp mounting plate 421, a tightening clamp guide rail slide block assembly and a tightening clamp telescopic cylinder 422 are installed on the tightening clamp mounting plate 421, a telescopic piece of the tightening clamp telescopic cylinder 422 is connected with the tightening clamp slide block 423 of the tightening clamp guide rail slide block assembly, a tightening device 424 is installed on the tightening clamp slide block 423, and the support bolt tightening robot assembly 4 further comprises a tightening quick-change machine and a marking device;
The control system can comprise a first robot control cabinet 7 and a second robot control cabinet 9, wherein the first robot control cabinet 7 is in communication connection with the support transfer robot assembly 3, the second robot control cabinet 9 is in communication connection with the support bolt tightening robot assembly 4, and the first robot control cabinet 7, the second robot control cabinet 9 and the tightening controller 6 are in communication connection.
The work flow of the support bolt automatic tightening work station is as follows:
firstly, conveying a supporting element installation base frame 2 to a screwing station, and collecting positioning installation characteristic signals on the supporting element installation base frame 2, wherein the detailed process is that the supporting element installation base frame 2 is conveyed to the screwing station through a conveying system of a workstation, after the supporting element installation base frame 2 reaches the screwing station, a position sensor in the workstation, which is used for monitoring in-place information of the supporting element installation base frame 2, conveys signals to a second robot control cabinet 9, the second robot control cabinet 9 sends a command to a screwing robot 41, the screwing robot 41 drives a camera of a screwing visual identification system 43 on an automatic screwing clamp 42 to identify installation positioning characteristics such as supporting element installation base frame bolt installation holes 22, supporting element installation base frame positioning pin holes 21 and the like on the supporting element installation base frame 2, and then conveys three-dimensional coordinate information of the installation characteristics to a first robot control cabinet 7 for storage;
Then, collect the locating and installing the characteristic signal on the support 1, and transport the support 1 to the above of the support mounting bed frame 2, the detailed process is, the support transport system conveys the support 1 to the buffer zone 5 of the support, the position sensor used for monitoring the in-place information of support 1 in the workstation conveys the signal to the first robot control cabinet 7, the first robot control cabinet 7 sends out the order to the transfer robot 31, the transfer robot 31 drives the first camera of the first location vision recognition system 33 on the transfer clamp 32 to discern the support bolt mounting hole 12 and support locating pin hole 11 of support 1 and install the locating feature, and convey the above-mentioned installation locating feature to the first robot control cabinet 7, the transfer clamp 32 on the first robot control cabinet 7 controls the transfer clamp 31 to act, make the relative position between support bolt mounting hole 12 and support locating feature support bolt hole 11 of transfer clamp 32 keep unchanged, then, the clamping jaw 324 on the transfer clamp telescopic cylinder 322 drives the clamping jaw slider 323 to slide along the clamping jaw guide rail to adjust two pairs of clamping jaw guide rails, the first location and the second location feature is required to be installed to the support 1, the second location feature is required to be installed in the transfer clamp hole 11, the second location information is transferred to the second location zone 11, the second location information is required to be installed in the transfer clamp 1, the second location process is carried out to the clamping position is carried out by the clamping jaw 1, and the second location information is installed;
Then, the positional difference between the support 1 and the support mounting base frame 2 is calculated based on the relative positional relationship between the positioning mounting features of the support 1 and the positioning mounting features of the support mounting base frame 2, the support 1 is adjusted so that the positioning mounting features between the support 1 and the support mounting base frame 2 are aligned, and the support 1 is placed on the support mounting base frame 2, by the detailed procedure that the first robot control cabinet 7 aligns the positioning feature information of the support mounting base frame bolt mounting holes 22 and the support mounting base frame positioning pin holes 21 collected in the first step with the relative positional relationship of the positioning feature information of the support bolt mounting holes 12 and the support positioning pin holes 11 secondarily identified in the second step, a deviation value of the three-dimensional coordinate position between the two is calculated, and the first robot control cabinet 7 adjusts the posture of the carrying jig 32 so that the support bolt mounting holes 12 and the support mounting base frame bolt mounting holes 22 are aligned, the support positioning pin holes 11 and the support mounting base frame positioning pin holes 21 are aligned, and places the support 1 on the support mounting base frame 2 based on the deviation value.
Finally, the support 1 and the support mounting base frame 2 are fastened and connected by bolts, the detailed process is that the tightening robot 41 on the support tightening robot assembly 4 takes the corresponding bolts from the bolt feeding table 8 under the control of the second robot control cabinet 9, and whether the bolts are provided with gaskets or not is needed to be detected, so that the grippers in the support tightening robot assembly 4 firstly place the taken bolts between the bolt feeding table 8 and the support tightening robot assembly 4, then the secondary positioning visual recognition system recognizes whether gaskets are arranged on the bolts, when the gaskets are not arranged, the secondary positioning visual recognition system transmits signals to the workshop control system, the workshop control system controls the alarm to alarm, corresponding processing is carried out, when the gaskets are arranged on the bolts, the support tightening robot assembly 4 takes the corresponding tightening sleeves to be arranged on the sleeve quick-changing mechanism of the automatic tightening clamp 42, the sleeve quick-change mechanism puts the bolt with the gasket into the supporting piece bolt mounting hole 12 and the supporting piece mounting base frame bolt mounting hole 22, the second robot control cabinet 9 sends an instruction to the tightening clamp telescopic cylinder 422, the telescopic piece of the tightening clamp telescopic cylinder 422 drives the tightening equipment 424 on the tightening clamp sliding block 423 to slide to the corresponding position along the tightening clamp guide rail, the tightening controller 6 sends a signal to the tightening equipment 424, the tightening equipment 424 tightens the bolt according to a certain torque, the tightening process monitors key parameters such as torsion, angle and the like in the whole process by the tightening controller 6, after one of the bolts is screwed, the tightening robot 41 controls the sleeve quick-change mechanism on the automatic tightening clamp 42 to mark the screwed bolt by using a corresponding marking device, the loading, assembly and screwing of the supporting piece 1 are automatically completed, the automation degree is high, the labor intensity is reduced, and the safety is ensured.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and all the simple modifications belong to the protection scope of the present invention.
In addition, the specific features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations are not described further.
Moreover, any combination of the various embodiments of the invention can be made without departing from the spirit of the invention, which should also be considered as disclosed herein.
Claims (18)
1. An automatic support bolt tightening station comprising:
a support transfer robot assembly (3) comprising a transfer robot (31), a transfer clamp (32) and a transfer positioning vision recognition system for recognizing a positioning mounting feature on a support (1) and transferring the support (1), adjusting the support (1) by adjusting the attitude of the transfer clamp (32) to transfer the support (1) onto a support mounting base frame (2) and aligning the positioning mounting feature between the support (1) and the support mounting base frame (2);
A support bolt tightening robot assembly (4) comprising a tightening robot (41), an automatic tightening clamp (42) mounted on the tightening robot (41), and a tightening visual recognition system (43) provided on the automatic tightening clamp (42) for recognizing a locating mounting feature on the support mounting base frame (2) and confirming whether the locating mounting feature between the support (1) and the support mounting base frame (2) is aligned or not, and tightening with a corresponding tightening sleeve and bolt in an aligned state; and
and the control system is in communication connection with the support bolt tightening robot assembly (4) and the support transfer robot assembly (3) so as to receive positioning and mounting characteristic signals identified by the tightening visual identification system (43) and the transfer positioning visual identification system and coordinate and control the support bolt tightening robot assembly (4) and the support transfer robot assembly (3) to work.
2. The support bolt automatic tightening workstation as recited in claim 1, wherein the support bolt tightening robot assembly (4) is configured to identify a locating mounting feature on the support mounting base frame (2) by the tightening clamp visual identification system (43) after the support mounting base frame (2) is transported to a tightening station and to communicate the locating mounting feature on the support mounting base frame (2) to the control system.
3. The support bolt automatic tightening station of claim 2, wherein the handling positioning visual identification system comprises:
-a primary positioning visual recognition system (33) arranged on the handling clamp (32) for initially recognizing the positioning mounting features on the support (1) in the buffer zone (5) of the support (1), the control system being configured to adjust the handling clamp (32) in accordance with the initial recognition of the positioning mounting features on the support (1) to ensure that the handling clamp (32) handles the support (1) in a predetermined relative positional relationship with the positioning mounting features on the support (1).
4. The support bolt automatic tightening station of claim 3, wherein the handling positioning visual identification system further comprises:
the secondary positioning visual recognition system is arranged between the buffer area (5) and the tightening station and is used for secondarily recognizing the positioning installation feature on the supporting piece (1), and the control system calculates the relative position relation between the positioning installation feature on the supporting piece (1) and the positioning installation feature on the supporting piece installation base frame according to the secondary recognition.
5. The support bolt automatic tightening station of claim 4, wherein the control system is further configured to adjust the handling clamp (32) according to a relative positional relationship between a locating mounting feature on the support (1) and a locating mounting feature on the support mounting base frame (2) after the support (1) is handled over the support mounting base frame (2) such that the locating mounting feature between the support (1) and the support mounting base frame (2) is aligned.
6. The support bolt automatic tightening workstation of claim 4, wherein the secondary positioning visual identification system is a ground camera assembly (10) for identifying bottom positioning mounting features of the support (1).
7. The support bolt automatic tightening workstation according to any one of claims 1 to 6, characterized in that the locating mounting features on the support (1) are support bolt mounting holes (12) and support locating pin holes (11) on the support (1), and the support mounting base frame (2) is a support mounting base frame bolt mounting hole (22) and a support mounting base frame locating pin hole (21) corresponding to the mounting locating features on the support (1).
8. The support bolt automatic tightening workstation according to any one of claims 1 to 6, characterized in that the support bolt tightening robot assembly (4) is further configured to take corresponding marking means for tightening identification after tightening is completed.
9. The support bolt automatic tightening workstation according to any one of claims 4 to 6, the control system, when controlling the support bolt tightening robot assembly (4) to take the corresponding tightening sleeve and bolt, the secondary positioning visual identification system identifies whether the taken bolt is provided with a gasket, and when the bolt is not provided with a gasket, an alarm is given, and in case the bolt is provided with a gasket, an adapted tightening sleeve is mounted onto the sleeve quick change mechanism of the automatic tightening jig according to the corresponding bolt taking.
10. The automatic tightening station of support bolts according to any one of claims 1 to 6, further comprising a support transport system for transporting the support (1) to a buffer (5) of the support.
11. The automatic tightening station for support bolts according to any one of claims 1 to 6, characterized in that the handling jig (32) comprises a handling jig mounting plate (321), a handling jig rail slider assembly and a handling jig telescopic cylinder (322) are mounted on the handling jig mounting plate (321), and a telescopic member of the handling jig telescopic cylinder (322) and a handling jig slider (323) of the handling jig rail slider assembly are connected so as to be capable of driving the handling jig slider (323) of the handling jig rail slider assembly to slide along a handling jig rail by the telescopic movement of the handling jig telescopic cylinder (322), and a clamping jaw (324) for clamping the support (1) is mounted on the handling jig slider (323).
12. The automatic tightening station for support bolts according to any one of claims 1 to 6, characterized in that the automatic tightening jig (42) comprises a tightening jig mounting plate (421), on which a tightening jig rail slider assembly and a tightening jig telescopic cylinder (422) are mounted, the telescopic members of the tightening jig telescopic cylinder (422) and the tightening jig slider (423) of the tightening jig rail slider assembly being connected so as to be capable of sliding along a tightening jig rail by the telescopic members of the tightening jig telescopic cylinder (423), the tightening jig slider (423) of the tightening jig rail slider assembly being mounted with a tightening apparatus (424) for tightening bolts having a tightening sleeve quick-change mechanism.
13. The support bolt automatic tightening workstation according to any one of claims 1 to 6, characterized in that the control system comprises a first robotic control cabinet (7) for controlling a support handling robot assembly (3), a second robotic control cabinet (9) for controlling a support bolt tightening robot assembly (4), and a tightening controller (6) for controlling the automatic tightening clamp (42), the first robotic control cabinet (7), the second robotic control cabinet (9) and the tightening controller (6) being in communication with each other.
14. An automatic tightening process for a supporting member bolt is characterized by comprising the following steps:
firstly, conveying a supporting piece installation base frame (2) to a tightening station, and collecting positioning installation characteristic signals on the supporting piece installation base frame (2);
secondly, collecting positioning and mounting characteristic signals on the supporting piece (1) and conveying the supporting piece (1) to the upper part of the supporting piece mounting base frame (2);
thirdly, calculating a position difference between the positioning mounting feature of the support (1) and the positioning mounting feature of the support mounting base frame (2) according to the relative position relation between the two, adjusting the support (1) so that the positioning mounting feature between the support (1) and the support mounting base frame (2) is aligned, and placing the support (1) on the support mounting base frame (2);
fourth, the supporting piece (1) and the supporting piece installation base frame (2) are fastened and connected through bolts.
15. The automatic tightening process of the support bolts according to claim 14, characterized in that in the second step, the locating installation feature on the support (1) is first identified in the buffer zone (5) of the support (1) by a one-time locating visual identification system, and the handling jig of the support (1) is adjusted according to the locating installation feature on the support (1) being first identified, so as to ensure that the handling jig (32) handles the support (1) in a preset relative positional relationship with the locating installation feature on the support (1).
16. The automatic tightening process of the support bolt according to claim 15, characterized in that the positioning mounting feature on the support (1) is secondarily identified by a secondary positioning visual identification system provided between the buffer (5) and the tightening station, and the relative positional relationship between the two is calculated from the secondarily identified positioning mounting feature on the support (1) and the positioning mounting feature on the support mounting base frame.
17. The support bolt automatic tightening process according to any one of claims 14 to 16, characterized in that the positioning mounting features on the support (1) are support bolt mounting holes (12) and support positioning pin holes (11) on the support (1), and the support mounting base frame (2) is a support mounting base frame bolt mounting hole (22) and a support mounting base frame positioning pin hole (21) corresponding to the mounting positioning features on the support (1).
18. A support bolt automatic tightening process according to any one of claims 14 to 17, characterized in that the support bolt automatic tightening process according to any one of claims 1 to 13 is implemented using the support bolt automatic tightening workstation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310443820.7A CN116551359A (en) | 2023-04-23 | 2023-04-23 | Automatic tightening work station for supporting piece bolt and automatic tightening process for supporting piece bolt |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310443820.7A CN116551359A (en) | 2023-04-23 | 2023-04-23 | Automatic tightening work station for supporting piece bolt and automatic tightening process for supporting piece bolt |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116551359A true CN116551359A (en) | 2023-08-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310443820.7A Pending CN116551359A (en) | 2023-04-23 | 2023-04-23 | Automatic tightening work station for supporting piece bolt and automatic tightening process for supporting piece bolt |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116551359A (en) |
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2023
- 2023-04-23 CN CN202310443820.7A patent/CN116551359A/en active Pending
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