CN117140060A - Automatic assembly system and assembly method for chassis transmission control unit - Google Patents

Abstract

The invention discloses an automatic assembly system and an assembly method for a chassis transmission control unit, wherein the system comprises: the device comprises a frame, a robot, an assembly platform, an auxiliary positioning mechanism, a fastening mechanism and clamping jaws; the robot is arranged at the side part of the frame, is connected with the clamping jaw and is used for grabbing parts required by the assembly of the transmission control unit and splicing and assembling the parts; the frame is provided with a moving module, an assembling platform and auxiliary positioning mechanisms, wherein the auxiliary positioning mechanisms are positioned at two sides of the assembling platform and are used for realizing the pre-positioning of each part grabbed by the robot on the assembling platform; the fastening mechanism is arranged on the movable module, the movable module drives the fastening mechanism to move to the part with the preset position, and screws are screwed down to realize the connection of the parts; after the assembly is completed, the finished product is carried by a robot. The invention has the advantages of compact structure, simple operation, high control precision, high degree of automation and the like, and remarkably improves the assembly efficiency of the transmission control unit.

Description

Automatic assembly system and assembly method for chassis transmission control unit

Technical Field

The invention belongs to the technical field of automatic assembly, and particularly relates to an automatic assembly system and an assembly method for a chassis transmission control unit.

Background

The chassis transmission control unit is used as one of core parts of rail transit products, and has high quality control requirement. However, due to the special structure of the product, the technical means is limited in the development level, and the existing chassis transmission control unit mainly comprises manual assembly. The following difficulties need to be solved in order to realize automation and intelligent assembly.

(1) The structure of the chassis transmission control unit is shown in fig. 1, and the main parts of the product are a metal shell 101, a circuit board 102 and a metal panel 103, wherein the circuit board 102 comprises 1 motherboard circuit board and 2 control board circuit boards, and the total number of the panels 103 is 4. Because of the requirement of the top installation panel of the product, the shell 101 is set to be a bending piece, the motherboard circuit board is interfered with the bending part during installation, the motherboard circuit board cannot be installed from top to bottom, the motherboard circuit board needs to horizontally enter from the side surface of the shell 101, then the motherboard circuit board and the shell 101 cannot be reliably fixed before being assembled. Therefore, in the automated assembly process, it is necessary to reliably and precisely place the circuit board on the housing and to be able to reliably fix and precisely set the screw holes for automatic screw tightening.

(2) The motherboard circuit board and the control board circuit board are connected by adopting a plug opposite-plugging and screw tightening mode, and the circuit board is plugged manually at present. The stress position and the stress size in the plugging process are uncontrollable by manpower, and the consistency and the stability of the product quality are affected. Therefore, automatic plugging is required to solve the problem of managing and controlling the stress of the circuit board in the process of aligning and plugging the plug.

(3) The panel 103 is mounted above the circuit board plug, and the panel 103 cannot be fixed on a product before assembly due to the problems of uneven plug edges, small plug edge size, clearance between a panel hole and the plug and the like. In the manual installation, the panel 103 needs to be held by one hand, and the screw is screwed by one hand. Therefore, the automatic assembly of the panel needs to solve the problem of positioning the panel, so as to realize that the panel is accurately placed on a product and can be reliably fixed before assembly.

(4) Because the rail transit industry products are mostly small-batch and multi-variety products, the same assembly station is required to adapt to the assembly of various different products. Therefore, higher requirements are put forward on automatic system change, automatic clamp switching, tooling sharing and the like, and a universal and full-automatic switching automatic assembly system is needed.

(5) In the whole automatic assembly process of the product, the number of screw tightening is large, and how to quickly, stably and reliably position the screw tightening position is also a great challenge of automatic assembly.

(6) Along with the improvement of the product quality traceability requirement, the requirements on the acquisition and recording of the data in the production process of the product are higher and higher, but the reliable recording and traceability cannot be carried out in the traditional manual assembly mode, so that a set of automatic assembly system is needed to acquire and record the data of each link of the product.

Disclosure of Invention

The invention aims to overcome the defects that in the prior art, assembled parts cannot be reliably positioned, automatic tightening assembly cannot be realized, and accurate control cannot be realized in the circuit board plugging process, and the like, and provides an automatic assembly system and an assembly method for a chassis transmission control unit, which are simple to operate, high in control precision, high in automation degree and high in assembly efficiency.

In order to solve the technical problems, the invention adopts the following technical scheme:

an automated assembly system for a chassis transmission control unit, comprising: the device comprises a frame, a robot, an assembly platform, an auxiliary positioning mechanism, a fastening mechanism and clamping jaws; the robot is provided with a camera to realize visual guidance, is arranged at the side part of the frame, is connected with the clamping jaw and is used for grabbing parts required by assembling the transmission control unit and splicing and assembling the parts; the machine frame is provided with a lifting driving piece, a moving module, an assembling platform and an auxiliary positioning mechanism, the assembling platform is arranged on the lifting driving piece, the auxiliary positioning mechanism is positioned at two sides of the assembling platform and is used for realizing the pre-positioning of each part grabbed by the robot on the assembling platform; the fastening mechanism is arranged on the movable module, and the movable module drives the fastening mechanism to move to the parts with the preset positions, and screws are screwed between the parts for connection; and carrying the finished product of the transmission control unit by a robot after the assembly is completed.

As a further improvement of the present invention, the clamping jaw includes: the device comprises a mounting bracket, a screw rod assembly, a clamping assembly and a compacting assembly; the upper part of the mounting bracket is connected with the robot, the lower part of the mounting bracket is provided with a screw rod assembly, the clamping assemblies are arranged at two ends of the screw rod assembly, and the two clamping assemblies are mutually close to or far away from each other under the driving of the screw rod assembly so as to clamp or loosen the parts of the transmission control unit; the compressing assembly is connected with the screw rod assembly and is positioned between the two clamping assemblies, and the compressing assembly stretches out and draws back to achieve the purpose that each part is inserted.

As a further improvement of the invention, the compression assembly comprises a second driving piece and an inserting compression piece, the second driving piece is connected with the screw rod assembly, the inserting compression piece is connected with the output end of the second driving piece, and the inserting compression piece stretches and contracts along the vertical direction under the driving of the second driving piece so as to realize the insertion of each part.

As a further improvement of the present invention, the mobile module includes: the device comprises a first mobile module, a second mobile module and a third mobile module; the first moving modules are arranged on two sides of the top of the frame in parallel; the second mobile module is in sliding connection with the first mobile module, and the second mobile module is mutually perpendicular to the first mobile module; the third moving module is arranged on the side part of the second moving module in a sliding way, and the fastening mechanism is arranged on the third moving module in a sliding way; the third moving module is used for driving the fastening mechanism to move along the Z direction, the second moving module is used for driving the fastening mechanism to move along the Y direction, and the first moving module is used for driving the fastening mechanism to move along the X direction.

As a further improvement of the present invention, the auxiliary positioning mechanism includes: a clamp, a first driving member and a triaxial servo mechanism; the bottom of the triaxial servo mechanism is arranged on the frame, the first driving piece is arranged at the top of the triaxial servo mechanism, the output end of the first driving piece is connected with the clamp, and the clamp is clamped or loosened under the driving of the first driving piece so as to clamp or loosen the positioning pin; the triaxial servo mechanism is used for driving the clamp to place the locating pin at a preset position of the part.

As a general technical concept, the present invention also provides an assembling method based on the above-mentioned automatic assembling system for a chassis transmission control unit, comprising the steps of:

s1, scanning a skip plate by using a camera arranged on a robot, acquiring product information of a transmission control unit to be assembled, and downloading corresponding assembly information from an MES control system;

s2, according to the assembly information, the robot performs visual detection on the parts to be assembled, and selects corresponding clamping jaws;

s3, the clamping jaw grabs the shell and moves to the assembly platform, and the auxiliary positioning mechanism grabs the positioning pin to pre-position the shell;

s4, the clamping jaw grabs the first circuit board and is placed on the shell, and the auxiliary positioning mechanism grabs the positioning pin to pre-position the shell and the first circuit board;

S5, the moving module drives the fastening mechanism to move to the first circuit board with the preset position, and screws between the shell and the first circuit board are screwed;

s6, the clamping jaw grabs a second circuit board and is spliced with the first circuit board, and the auxiliary positioning mechanism grabs the positioning pin to pre-position the shell and the second circuit board;

s7, the moving module drives the fastening mechanism to move to the shell and the second circuit board which are positioned in advance, and screws between the shell and the circuit board are screwed down to realize connection and fixation of the shell and the circuit board;

s8, the clamping jaw grabs the panel and places the panel on the circuit board, and the auxiliary positioning mechanism grabs the positioning pin to pre-position the panel and the circuit board;

s9, the moving module drives the fastening mechanism to move to the panel and the circuit board which are positioned in advance, and screws between the panel and the circuit board are screwed down to realize connection and fixation of the panel and the circuit board;

s10, scanning and assembling a finished product by using a camera arranged on the robot, detecting visual quality of the finished product, and uploading detection data to an MES control system; if the quality detection is qualified, finishing assembly; and if the quality detection is unqualified, taking off the unqualified product.

As a further improvement of the invention, said step S2 comprises,

S21, photographing the parts by a camera arranged on the robot, and detecting whether the quality of the parts is qualified or not;

s22, if the robot is qualified, the robot automatically switches the corresponding clamping jaw 6, grabs the parts to the position of the fixed camera on the rack for photographing and positioning, and calculates the position where the parts are placed; if the parts are not qualified, the unqualified parts are taken off line;

s23, according to the visually corrected placement position, the robot moves the parts to a preset installation position.

As a further improvement of the present invention, in the step S6, the insertion position of the two circuit boards is visually guided, and the pressing component is used to fix the position of the differential pressure force application, and realize that the pressure is applied on the plug; in the plugging process, the magnitude of the plugging force is monitored in real time.

As a further improvement of the present invention, said step S6 comprises,

s61, the robot grabs the circuit board, the plug of the circuit board is moved to a position on the rack for fixing the camera to take a picture, and the plug placement position deviation is calculated;

s62, according to a calculation result, the robot moves the circuit board to a preset assembly position;

s63, the second driving piece drives the splicing pressing piece to move downwards, and the splicing pressing piece is propped against the two ends of the circuit board plug;

S64, controlling the lifting driving piece on the rack to operate so as to drive the assembly platform to move upwards, so that the two circuit boards are spliced, detecting and recording the pressure of the splicing pressing piece in real time in the splicing process, and alarming and stopping the operation of the equipment if the pressure exceeds the control value.

As a further improvement of the invention, in the steps S5, S7 and S9, the screw tightening process includes a cap searching stage, a fast tightening stage and a slow tightening stage; in the cap searching stage, the fastening mechanism moves at a low speed and rotates for 90 degrees, so that unqualified detection is not triggered; in the rapid tightening stage, a tightening mechanism adopts rapid tightening and adopts a tightening strategy of angle control and torque detection; in the slow tightening stage, a tightening strategy of torque control and angle detection is adopted.

As a further improvement of the invention, when a tightening strategy of angle control and torque detection is adopted, the magnitude of the tightening angle, the safety torque and the threshold torque are defined according to the screw type; when the torque reaches a safe torque value, the tightening is stopped, and a tightening failure alarm is triggered; if the tightening process does not trigger the safety torque, judging whether the torque threshold is exceeded after the angle tightening is qualified; and when the angle tightening is qualified and the torque is within the set threshold range, performing the next tightening.

As a further improvement of the invention, when a tightening strategy of torque control and angle detection is adopted, a final torque value, a torque upper line and a torque lower line, an angle calculation torque threshold value and an angle management upper limit and lower limit are defined according to the product quality requirement of a transmission control unit; in the screwing process, if the torque or the angle exceeds the control range, screwing is stopped; when the torque is in the final torque range of the screw and the angle is also in the control range, the screw is screwed up to be qualified.

As a further improvement of the invention, after the screw is screwed, the screw screwing torque, angle and screwing time are recorded for product quality tracing; a tightening process curve is recorded for optimizing the tightening strategy.

Compared with the prior art, the invention has the advantages that:

1. according to the automatic assembly system for the chassis transmission control unit, the camera is arranged on the robot, and the camera is used for carrying out visual guidance on the assembly process, so that the control accuracy of assembly is improved; the robot is arranged on the side part of the frame and connected with the clamping jaw, so that the robot is convenient to grasp and assemble parts required by the transmission control unit, and the parts are spliced and assembled; the lifting driving piece, the moving module, the assembling platform and the auxiliary positioning mechanism are arranged on the frame, the assembling platform is arranged on the lifting driving piece, free lifting of the assembling platform is realized, so that assembling requirements of different products are met, the auxiliary positioning mechanisms are positioned on two sides of the assembling platform, each part grabbed by the robot is positioned on the assembling platform in advance, and matching accuracy among the parts is improved; through setting up fastening mechanism on the movable module, movable module drives fastening mechanism and removes to accomplish on the spare part of predetermined location to screw down the screw and connect between each spare part, finally obtained complete transmission control unit product, solved the unable reliable location of equipment spare part that exists among the prior art, unable realization automatic screw down assembly and the unable accurate management and control scheduling problem of circuit board grafting process, realized transmission control unit's high accuracy, automated assembly.

2. According to the automatic assembly method for the chassis transmission control unit, the camera arranged on the robot is used for acquiring product information, downloading corresponding assembly information, simultaneously, the quality of parts is detected visually, then the proper clamping jaw is selected, further, the product assembly is started, in the assembly process, the pre-positioning of the parts is realized by using the auxiliary positioning mechanism, the automatic insertion of the circuit board is realized by using the clamping jaw, the automatic screw tightening is realized by using the fastening mechanism, the full-automatic assembly of the transmission control unit is finally realized, the visual quality detection is carried out on the finished product, and the detection data is uploaded to the MES control system; if the quality detection is qualified, finishing assembly; if the quality detection is unqualified, the unqualified product is taken off line, the whole assembly process is clear in logic and accurate in control, and the efficient and high-quality assembly of the transmission control unit product is realized.

Drawings

Fig. 1 is a schematic structural diagram of a chassis transmission control unit.

Fig. 2 is a schematic structural diagram of an automatic assembly system for a chassis transmission control unit according to the present invention.

Fig. 3 is a cross-sectional view taken along the direction A-A in fig. 2.

Fig. 4 is a schematic diagram of a partial structure of an automatic assembly system for a chassis transmission control unit according to the present invention.

FIG. 5 is a schematic diagram of an assembly control flow in the present invention.

FIG. 6 is a schematic diagram of a control flow for positioning components in the present invention.

Fig. 7 is a schematic diagram of a plug control flow in the present invention.

Fig. 8 is a schematic diagram of a screw tightening control flow in the present invention.

Legend description: 1. a frame; 11. a first mobile module; 12. a second mobile module; 13. a third mobile module; 2. a robot; 3. assembling a platform; 4. an auxiliary positioning mechanism; 41. a clamp; 42. a first driving member; 43. a triaxial servo mechanism; 5. a fastening mechanism; 6. a clamping jaw; 61. a mounting bracket; 62. a screw assembly; 63. a clamping assembly; 64. a compression assembly; 641. a second driving member; 642. a plug-in pressing piece; 7. a positioning pin; 100. a transmission control unit; 101. a housing; 102. a circuit board; 103. a panel.

Detailed Description

The invention is further described below in connection with the drawings and the specific preferred embodiments, but the scope of protection of the invention is not limited thereby.

Example 1

As shown in fig. 1 to 4, the automatic assembly system for a cabinet transmission control unit of the present invention includes: the robot comprises a frame 1, a robot 2, an assembly platform 3, an auxiliary positioning mechanism 4, a fastening mechanism 5 and clamping jaws 6. The robot 2 is provided with a camera to realize visual guidance, the robot 2 is arranged at the side part of the frame 1, and the robot 2 is connected with the clamping jaw 6 in a quick connection way and is used for grabbing parts required by the assembly transmission control unit 100 and splicing and assembling the parts. The frame 1 is provided with a lifting driving piece, a moving module, an assembling platform 3 and an auxiliary positioning mechanism 4, wherein the assembling platform 3 is arranged on the lifting driving piece, the auxiliary positioning mechanism 4 is positioned on two sides of the assembling platform 3, and is used for realizing that each part grabbed by the robot 2 is positioned on the assembling platform 3 in advance. The fastening mechanism 5 is arranged on the movable module, and the movable module drives the fastening mechanism 5 to move to the parts with the preset positions, and screws are screwed between the parts for connection. After the assembly, the finished product of the drive control unit 100 is transported by the robot 2. It can be appreciated that the lifting driving piece can specifically adopt a servo lifting system, and has the advantages of simple structure, stable transmission, accurate control and the like. The automatic assembly system is provided with a plurality of clamping jaws 6 of different types, and when the parts are grabbed, the robot 2 can go to the clamping jaw 6 placement area according to actual assembly requirements and automatically replace the clamping jaws 6 with the corresponding functions.

In the embodiment, the camera is arranged on the robot 2, so that the camera is used for carrying out visual guidance on the assembly process, and the control accuracy of the assembly is improved; the robot 2 is arranged on the side part of the frame 1, and the robot 2 is connected with the clamping jaw 6, so that the parts required by the assembly of the transmission control unit 100 can be conveniently grasped, and the parts can be spliced and assembled; through arranging the lifting driving piece, the moving module, the assembling platform 3 and the auxiliary positioning mechanism 4 on the frame 1, the assembling platform 3 is arranged on the lifting driving piece, free lifting of the assembling platform 3 is realized, so that assembling requirements of different products are met, the auxiliary positioning mechanism 4 is positioned on two sides of the assembling platform 3, each part grabbed by the robot 2 is pre-positioned on the assembling platform 3, and matching accuracy among the parts is improved; through setting up fastening mechanism 5 on the removal module, remove the module and drive fastening mechanism 5 and remove to accomplish on the spare part of predetermined location to screw down the screw and connect between each spare part, finally obtained complete transmission control unit product, solved the unable reliable location of equipment spare part that exists among the prior art, unable realization automatic screw down assembly and the unable accurate management and control scheduling problem of circuit board grafting process, realized transmission control unit's high accuracy, automated assembly.

As shown in fig. 4, in the present embodiment, the holding jaw 6 includes: a mounting bracket 61, a screw assembly 62, a clamping assembly 63 and a compression assembly 64. The upper part of the mounting bracket 61 is connected with the robot 2, the lower part of the mounting bracket 61 is provided with a screw rod assembly 62, clamping assemblies 63 are arranged at two ends of the screw rod assembly 62, and the two clamping assemblies 63 are mutually close to or far away from each other under the driving of the screw rod assembly 62 so as to clamp or loosen the parts of the transmission control unit 100; the compressing assembly 64 is connected with the screw rod assembly 62 and is located between the two clamping assemblies 63, and the compressing assembly 64 stretches out and draws back to achieve the insertion of each part.

Further, compression assembly 64 includes a second driver 641 and a plug compression member 642. The second driving member 641 is connected with the screw rod assembly 62, the inserting pressing member 642 is connected with the output end of the second driving member 641, and the inserting pressing member 642 stretches and contracts in the vertical direction under the driving of the second driving member 641 so as to realize the insertion of each part. In this embodiment, the second driving element 641 may specifically take the form of a cylinder assembly.

In this embodiment, the clamping jaw 6 comprises a clamping assembly 63 for clamping the circuit board 102 and a hold down assembly 64 for assisting in the plugging of the circuit board 102. The clamping assembly 63 grabs the circuit board and waits for a pressure difference; the clamping assembly 63 adopts a servo electric claw, so that the grabbing position of the circuit board can be accurately controlled, and the contact position of the clamping claw and the circuit board adopts a slope chamfering groove design, so that the circuit board is ensured to be reliably clamped. The pressing component 64 specifically includes a second driving member 641 and a plugging pressing member 642, a pressure sensor is disposed on the plugging pressing member 642, and a position of a pressing rod in the plugging pressing member 642 is designed at a position of a mounting hole of a circuit board plug so as to reduce stress of the circuit board, and the pressing component 64 adopts a split design, so that different plugging pressing members 642 can be switched according to different products.

As shown in fig. 1, in this embodiment, the mobile module includes: a first mobile module 11, a second mobile module 12 and a third mobile module 13. The first movable modules 11 are arranged on two sides of the top of the frame 1 in parallel; the second mobile module 12 is in sliding connection with the first mobile module 11, and the second mobile module 12 is mutually perpendicular to the first mobile module 11; the third moving module 13 is arranged on the side part of the second moving module 12 in a sliding way, and the fastening mechanism 5 is arranged on the third moving module 13 in a sliding way; the third moving module 13 is used for driving the fastening mechanism 5 to move along the Z direction, the second moving module 12 is used for driving the fastening mechanism 5 to move along the Y direction, and the first moving module 11 is used for driving the fastening mechanism 5 to move along the X direction, so that the fastening mechanism 5 is finally moved to a required working position.

It can be appreciated that in this embodiment, the first moving module 11, the second moving module 12 and the third moving module 13 can all adopt a mode that the motor drives the sliding block to slide on the guide rail, and have the advantages of high moving stability and high moving precision.

As shown in fig. 2 and 3, in the present embodiment, the auxiliary positioning mechanism 4 includes: a clamp 41, a first drive 42 and a triaxial servo 43. The bottom of the triaxial servo mechanism 43 is arranged on the frame 1, the first driving piece 42 is arranged on the top of the triaxial servo mechanism 43, the output end of the first driving piece 42 is connected with the clamp 41, and the clamp 41 is clamped or unclamped under the driving of the first driving piece 42 so as to clamp or unclamp the positioning pin 7. The triaxial servo 43 is used to drive the clamp 41 to place the positioning pin 7 in a predetermined position of the component. In this embodiment, the first driving member 42 may specifically be a cylinder.

In this embodiment, auxiliary positioning mechanisms 4 are respectively designed at two ends of the assembly platform 3, a triaxial servo mechanism 43 is provided for driving the clamp 41 to move, a cylinder is provided for driving the clamp 41 to clamp or unclamp, and a quadrangular boss structure is adopted at the clamp mouth for clamping and replacing the positioning pin 7. Different positioning pins 7 are designed for auxiliary positioning according to the requirements of different parts. When the locating pin 7 is designed, the front end is in a conical design, so that products can be easily located, and the tail end is in a groove design and matched with a clamp for clamping.

Example 2

As shown in fig. 5, the automatic assembly method for the chassis transmission control unit according to the present embodiment is implemented based on the automatic assembly system described in embodiment 1, and includes the following steps:

s1, scanning a skip plate by using a camera arranged on a robot 2, acquiring product information of a transmission control unit 100 to be assembled, and downloading corresponding assembly information from an MES control system;

s2, according to the assembly information, the robot 2 performs visual detection on the parts to be assembled, and selects corresponding clamping jaws 6;

s3, the clamping jaw 6 grabs the shell 101 and moves to the assembling platform 3, and the auxiliary positioning mechanism 4 grabs the positioning pin 7 to pre-position the shell 101;

S4, the clamping jaw 6 grabs the first circuit board 102 and is placed on the shell 101, and the auxiliary positioning mechanism 4 grabs the positioning pin 7 to pre-position the shell 101 and the first circuit board 102;

s5, the moving module drives the fastening mechanism 5 to move to the first circuit board 102 with the preset position, and screws between the shell 101 and the first circuit board 102 are screwed;

s6, the clamping jaw 6 grabs a second circuit board 102 and is spliced with the first circuit board 102, and the auxiliary positioning mechanism 4 grabs the positioning pin 7 to pre-position the shell 101 and the second circuit board 102;

s7, the moving module drives the fastening mechanism 5 to move to the shell 101 and the second circuit board 102 which are positioned in advance, and screws between the shell 101 and the circuit board 102 are screwed, so that the shell 101 and the circuit board 102 are connected and fixed;

s8, the clamping jaw 6 grabs the panel 103 and is placed on the circuit board 102, and the auxiliary positioning mechanism 4 grabs the positioning pin 7 to pre-position the panel 103 and the circuit board 102;

s9, the moving module drives the fastening mechanism 5 to move to the panel 103 and the circuit board 102 which are positioned in advance, and screws between the panel 103 and the circuit board 102 are screwed down to realize connection and fixation of the panel 103 and the circuit board 102;

s10, scanning and assembling a finished product by using a camera arranged on the robot 2, detecting visual quality of the finished product, and uploading detection data to an MES control system; if the quality detection is qualified, finishing assembly; and if the quality detection is unqualified, taking off the unqualified product.

In this embodiment, aiming at the problem that parts cannot be reliably positioned and fixed for assembly during product assembly, a visual guidance method, a robot assistance method and a positioning pin fixing method are adopted for flexible assembly. Because the parts of the product need to be positioned, and different products have different parts, when the system is designed, the embodiment adopts a clamp and a positioning pin system which can be quickly replaced, so that different fixing and positioning modes of different parts are satisfied; the auxiliary positioning mechanism adopts a movable mechanism to cover all areas needing to be positioned, so that the requirements of positioning parts at different assembly positions are met.

In this embodiment, step S2 includes,

s21, photographing the parts by a camera arranged on the robot 2, and detecting whether the quality of the parts is qualified;

s22, if the robot is qualified, the robot 2 automatically switches the corresponding clamping jaw 6, grabs the parts to the position of the fixed camera on the frame 1 for photographing and positioning, and calculates the position where the parts are placed; if the parts are not qualified, the unqualified parts are taken off line. The visual photographing and positioning of the parts can also adopt a photographing and positioning mode by moving a camera on the robot.

S23, according to the visually corrected placement position, the robot 2 moves the parts to a preset installation position.

The flow of component positioning is shown in fig. 6. When the product is assembled, after the information of the clamping jaw 6 and the information of the auxiliary positioning mechanism 4 required by each part are automatically acquired according to the product drawing number information, the robot 2 grabs the part to the fixed camera position on the frame 1 for visual photographing and positioning, the position where the part is placed is calculated, and the robot 2 moves the part to the installation position according to the position after visual correction. At this time, because the parts cannot be fixed, the robot 2 cannot directly place the parts, the robot 2 grabs the parts and waits, and meanwhile, the auxiliary positioning mechanism 4 automatically selects the corresponding positioning pin 7, and moves the positioning pin 7 to the position of the parts through the triaxial servo mechanism to fix the parts, then the robot 2 moves away, the fastening mechanism 5 moves to the assembling position to assemble, and after the assembling is fixed, the auxiliary positioning mechanism 4 moves away and returns to the initial position.

In the aspect of positioning the parts, the embodiment adopts a robot positioning method based on visual guidance, and the method can effectively reduce the feeding errors of the parts and the grabbing errors of the robot and realize the accurate placement of the parts. Aiming at the problem that parts cannot be fixed before assembly, the robot 2 and the auxiliary positioning mechanism 4 are combined, the parts can be reliably fixed by matching two sets of motion systems, and the parts with different materials and different appearances can be fixed by adopting the same set of system due to the fact that the auxiliary positioning mechanism 4 can be quickly replaced and moved and the flexibility of the robot 2 is realized.

In step S6 of the present embodiment, the insertion positions of the two circuit boards 102 are visually guided, and the pressing assembly 64 is used to fix the position of the differential pressure force application, and to realize the application of pressure on the plug; in the plugging process, the magnitude of the plugging force is monitored in real time.

In this embodiment, step S6 includes,

s61, the robot 2 grabs the circuit board 102, moves a plug of the circuit board 102 to a position on the rack 1 for fixing a camera to take a picture, and calculates plug placement position deviation;

s62, according to a calculation result, the robot 2 moves the circuit board 102 to a preset assembly position;

s63, the second driving piece 641 drives the inserting and pressing piece 642 to move downwards and press to the two ends of the plug of the circuit board 102;

s64, controlling the lifting driving piece on the frame 1 to operate so as to drive the assembly platform 3 to move upwards, so that the two circuit boards 102 are spliced, detecting and recording the pressure of the splicing pressing piece 642 in real time in the splicing process, and alarming and stopping the operation of the equipment if the pressure exceeds a control value.

In this embodiment, the product assembling process needs to plug the plugs of the two circuit boards 102, and the circuit boards 102 are sensitive to stress and are easy to damage because the plug positions of different products are not fixed and the plug positions of the same products have deviation. In the plugging hardware scheme, a visual system is adopted for guiding and positioning the plug, so that the accurate plugging position is ensured; the clamping jaw 6 is used for fixing the plug and the circuit board, so that the plugging pressure is applied to the plug instead of the circuit board, and the plugging pressing piece 642 in the clamping jaw 6 is of a quick-replaceable structure so as to meet the plugging requirements of different circuit boards. The servo system is adopted to drive the assembly platform 3 to lift for splicing, so that the speed of the splicing process is controllable; the pressure sensor is adopted for real-time detection and recording, and the quality control of the plugging process is ensured. In the system scheme, the robot 2 automatically selects and switches the pressure difference tool and the circuit board clamp according to the types of products and parts, and the vision system can accurately calculate. The circuit board is inserted through a set of hardware mechanism and a set of control system, so that the full control of the insertion position, insertion stroke and insertion force in the insertion process of the circuit board is realized.

In fig. 7, the control flow of plugging is shown, the robot selects the corresponding clamping jaw 6 according to the product drawing number to capture the circuit board, photographs the plug of the circuit board at the fixed position, calculates the deviation of the placement position of the plug, moves the circuit board to the assembly position according to the guiding position, drives the plugging pressing piece 642 to extend downwards at the moment, pushes the plugging pressing piece 642 to the positions of the two ends of the plug, controls the lifting driving piece (servo motor) to drive the assembly platform 3 to move upwards slowly, and detects and records the pressure of the circuit board 102 in real time in the moving process, and alarms and stops the operation when the pressure exceeds the control value.

In this embodiment, after the parts are positioned and fixed, the products need to be assembled by screw fastening. The drive control unit 100 has a variety of screws to assemble, including M3 x 8 screws, M3 x 16 screws, M3 x 20 screws, M3 outer hex 43.3mm long studs, M3 outer hex 24.5 short studs, and M12 outer hex nuts. Therefore, during assembly, 3 sets of tightening tools are selected to be carried on one set of servo mechanism to respectively tighten the screw, the stud and the nut. In the product assembling process, the tightening tool is automatically switched according to the type of the product screw. The transmission control unit 100 is a layered mechanism, and is divided into a motherboard layer (housing 101), a control board layer (circuit board 102), and a panel layer (panel 103). According to the product characteristics, the screw hole positions of the upper layer of the product are all based on the screw hole positions of the bottom motherboard, so that when the screw hole positions are positioned, the screw hole positions of the bottom layer are positioned by adopting visual guidance, the screwing positions of the screws of the upper layer are in corresponding relation with the screw hole positions of the bottom layer, and when the screws of the upper layer are installed, the positions of the screw holes after the visual guidance of the bottom layer are referenced.

In step S5, step S7 and step S9 of the present embodiment, the screw tightening process includes a cap searching stage, a fast tightening stage and a slow tightening stage; in the cap searching stage, the fastening mechanism 5 moves at a low speed and rotates by 90 degrees, so that unqualified detection is not triggered; in the rapid tightening stage, the tightening mechanism 5 adopts rapid tightening and adopts a tightening strategy of angle control and torque detection; in the slow tightening stage, a tightening strategy of torque control and angle detection is adopted. When the screw is automatically screwed down, a method of screw position visual positioning and product screw hole position correlation calculation is adopted, so that the screw hole position is rapidly and effectively positioned. In the screw fastening process, a step-by-step tightening strategy and different control modes are adopted, so that the screw is fastened efficiently and with high quality. Meanwhile, in the fastening process, besides the result value of screw tightening, the curve of the whole tightening process is recorded, and the curve can guide the stepwise tightening strategy to be continuously optimized.

Further, when a tightening strategy of angle control and torque detection is adopted, the size of a tightening angle, the safety torque and the threshold torque are defined according to the screw type; when the torque reaches a safe torque value, the tightening is stopped, and a tightening failure alarm is triggered; if the tightening process does not trigger the safety torque, judging whether the torque threshold is exceeded after the angle tightening is qualified; and when the angle tightening is qualified and the torque is within the set threshold range, performing the next tightening.

Further, when a tightening strategy of torque control and angle detection is adopted, a final torque value, a torque upper line and a torque lower line, an angle calculation torque threshold value and an angle management upper limit and lower limit are defined according to the product quality requirement of the transmission control unit 100; in the screwing process, if the torque or the angle exceeds the control range, screwing is stopped; when the torque is in the final torque range of the screw and the angle is also in the control range, the screw is screwed up to be qualified.

Further, after the screw is screwed, the screw screwing torque, the angle and the screwing time are recorded for product quality tracing; a tightening process curve is recorded for optimizing the tightening strategy. And if the screw is qualified, the next screw is screwed, and if the screw is unqualified, the screw can be manually re-screwed and the screw is unqualified.

In the embodiment, when the screw is screwed down, the screwing down process is divided into three sections, the first section is a cap searching stage, the screw is rotated by 90 degrees at a low speed, and unqualified detection is not triggered. The second stage is a rapid tightening stage, rapid tightening is adopted, and the tightening strategy adopts an angle control and torque detection method, so that the tightening efficiency can be improved, and meanwhile, the unqualified tightening process can be detected. The magnitude of the tightening angle, the safety torque, the threshold torque are first defined according to each screw type. In the process of tightening according to the angle, the torque reaches a safe torque value, the tightening is stopped, the unqualified tightening alarm is triggered, if the safe torque is not triggered in the process, after the angle is qualified in tightening, whether the torque threshold is exceeded or not is judged, and the next tightening can be performed only when the angle is qualified in tightening and the torque is within the set threshold range. The third screwing stage is a final screwing stage, slow screwing is adopted, and a screwing strategy adopts a method of torque control and angle detection, so that the screw can be ensured to accurately reach the target torque and reach the fastening state. Firstly, defining a final torque value of a screw, a torque up-down line, a torque angle calculation torque threshold value and an angle control upper-lower limit according to product quality requirements, wherein in the screwing process, the torque or the angle exceeds a control range, screwing is stopped, and the screw is qualified only when the torque reaches the final torque range of the screw and the angle is also in the control range. According to the method, aiming at screw tightening, accurate positioning is performed from screw holes, the tightening process comprises the steps of moment control and angle control, tightening result verification, tightening quantity verification, tightening result record, tightening curve tracing, disqualification treatment and the like, and the whole process control of automatic tightening of parts is realized. A screw tightening control flow chart is shown in fig. 8.

In the embodiment, the camera arranged on the robot 2 is used for acquiring product information, downloading corresponding assembly information, simultaneously, visually detecting the quality of parts, then selecting a proper clamping jaw 6, further starting product assembly, in the assembly process, realizing the pre-positioning of the parts by using the auxiliary positioning mechanism 4, realizing the automatic splicing of a circuit board by using the clamping jaw 6, realizing the automatic screw tightening by using the fastening mechanism 5, finally realizing the full-automatic assembly of a transmission control unit, visually detecting the quality of the finished product, and uploading detection data to an MES control system; if the quality detection is qualified, finishing assembly; if the quality detection is unqualified, the unqualified product is taken off line, the whole assembly process is clear in logic and accurate in control, and the efficient and high-quality assembly of the transmission control unit product is realized.

While the invention has been described with reference to preferred embodiments, it is not intended to be limiting. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present invention or equivalent embodiments using the method and technical solution disclosed above without departing from the spirit and technical solution of the present invention. Therefore, any simple modification, equivalent substitution, equivalent variation and modification of the above embodiments according to the technical substance of the present invention, which do not depart from the technical solution of the present invention, still fall within the scope of the technical solution of the present invention.

Claims (13)

1. An automated assembly system for a chassis transmission control unit, comprising: the device comprises a frame (1), a robot (2), an assembly platform (3), an auxiliary positioning mechanism (4), a fastening mechanism (5) and clamping jaws (6); the robot (2) is provided with a camera to realize visual guidance, the robot (2) is arranged at the side part of the frame (1), the robot (2) is connected with the clamping jaw (6) and is used for grabbing parts required by the assembly transmission control unit (100) and splicing and assembling the parts; the robot is characterized in that a lifting driving piece, a moving module, an assembling platform (3) and an auxiliary positioning mechanism (4) are arranged on the frame (1), the assembling platform (3) is arranged on the lifting driving piece, the auxiliary positioning mechanisms (4) are positioned on two sides of the assembling platform (3) and are used for realizing the preset positioning of each part grabbed by the robot (2) on the assembling platform (3); the fastening mechanism (5) is arranged on the movable module, the movable module drives the fastening mechanism (5) to move to the parts with preset positions, and screws are screwed between the parts for connection; after the assembly is completed, the finished product of the drive control unit (100) is conveyed by the robot (2).

2. The automatic assembly system for a cabinet transmission control unit according to claim 1, characterized in that said jaws (6) comprise: the device comprises a mounting bracket (61), a screw rod assembly (62), a clamping assembly (63) and a pressing assembly (64); the upper part of the mounting bracket (61) is connected with the robot (2), a screw rod assembly (62) is arranged at the lower part of the mounting bracket (61), the clamping assemblies (63) are arranged at two ends of the screw rod assembly (62), and the two clamping assemblies (63) are mutually close to or far away from each other under the driving of the screw rod assembly (62) so as to clamp or loosen the parts of the transmission control unit (100); the compressing assembly (64) is connected with the screw rod assembly (62) and is positioned between the two clamping assemblies (63), and the compressing assembly (64) stretches out and draws back to achieve the insertion connection of each part.

3. The automatic assembly system for a chassis transmission control unit according to claim 2, wherein the compression assembly (64) comprises a second driving member (641) and an inserting compression member (642), the second driving member (641) is connected with the screw assembly (62), the inserting compression member (642) is connected with an output end of the second driving member (641), and the inserting compression member (642) stretches and contracts in a vertical direction under the driving of the second driving member (641) to realize the inserting of each part.

4. An automated assembly system for a chassis transmission control unit according to any one of claims 1 to 3, wherein the mobile module comprises: a first mobile module (11), a second mobile module (12) and a third mobile module (13); the first movable modules (11) are arranged on two sides of the top of the frame (1) in parallel; the second mobile module (12) is in sliding connection with the first mobile module (11), and the second mobile module (12) is perpendicular to the first mobile module (11); the third moving module (13) is arranged on the side part of the second moving module (12) in a sliding way, and the fastening mechanism (5) is arranged on the third moving module (13) in a sliding way; the third moving module (13) is used for driving the fastening mechanism (5) to move along the Z direction, the second moving module (12) is used for driving the fastening mechanism (5) to move along the Y direction, and the first moving module (11) is used for driving the fastening mechanism (5) to move along the X direction.

5. An automatic assembly system for a cabinet drive control unit according to any one of claims 1 to 3, characterized in that the auxiliary positioning mechanism (4) comprises: a clamp (41), a first drive (42) and a triaxial servo (43); the bottom of the triaxial servo mechanism (43) is arranged on the frame (1), the first driving piece (42) is arranged at the top of the triaxial servo mechanism (43), the output end of the first driving piece (42) is connected with the clamp (41), and the clamp (41) is clamped or loosened under the driving of the first driving piece (42) so as to clamp or loosen the positioning pin (7); the triaxial servo mechanism (43) is used for driving the clamp (41) to place the locating pin (7) to a preset position of the part.

6. An assembling method based on the automatic assembling system for the chassis transmission control unit according to any one of claims 1 to 5, characterized by comprising the steps of:

s1, scanning a skip plate by using a camera arranged on a robot (2), acquiring product information of a transmission control unit (100) to be assembled, and downloading corresponding assembly information from an MES control system;

s2, according to the assembly information, the robot (2) performs visual detection on the parts to be assembled, and selects corresponding clamping jaws (6);

S3, the clamping jaw (6) grabs the shell (101) and moves to the assembling platform (3), and the auxiliary positioning mechanism (4) grabs the positioning pin (7) to pre-position the shell (101);

s4, the clamping jaw (6) clamps the first circuit board (102) and is placed on the shell (101), and the auxiliary positioning mechanism (4) clamps the positioning pin (7) to pre-position the shell (101) and the first circuit board (102);

s5, the moving module drives the fastening mechanism (5) to move to the first circuit board (102) with the preset position, and screws between the shell (101) and the first circuit board (102) are screwed;

s6, the clamping jaw (6) clamps a second circuit board (102) and is spliced with the first circuit board (102), and the auxiliary positioning mechanism (4) clamps the positioning pin (7) to pre-position the shell (101) and the second circuit board (102);

s7, the moving module drives the fastening mechanism (5) to move to the shell (101) and the circuit board (102) which are positioned in advance, and screws between the shell (101) and the second circuit board (102) are screwed down, so that the shell (101) and the circuit board (102) are connected and fixed;

s8, the clamping jaw (6) clamps the panel (103) and is placed on the circuit board (102), and the auxiliary positioning mechanism (4) clamps the positioning pin (7) to pre-position the panel (103) and the circuit board (102);

S9, the moving module drives the fastening mechanism (5) to move to the panel (103) and the circuit board (102) which are positioned in advance, and screws between the panel (103) and the circuit board (102) are screwed down, so that the panel (103) and the circuit board (102) are connected and fixed;

s10, scanning and assembling a finished product by using a camera arranged on the robot (2), detecting visual quality of the finished product, and uploading detection data to an MES control system; if the quality detection is qualified, finishing assembly; and if the quality detection is unqualified, taking off the unqualified product.

7. The method of assembling according to claim 6, wherein said step S2 comprises,

s21, photographing the parts by a camera arranged on the robot (2), and detecting whether the quality of the parts is qualified or not;

s22, if the robot is qualified, the robot (2) automatically switches corresponding clamping jaws (6), grabs the parts to the position of a fixed camera on the frame (1) for photographing and positioning, and calculates the position where the parts are placed; if the parts are not qualified, the unqualified parts are taken off line;

s23, according to the visually corrected placement position, the robot (2) moves the parts to a preset installation position.

8. The assembly method according to claim 6, wherein in the step S6, the insertion position of the two circuit boards (102) is visually guided, the position of the differential pressure force is fixed by the pressing assembly (64), and the pressure is applied to the plug; in the plugging process, the magnitude of the plugging force is monitored in real time.

9. The method of assembling according to claim 8, wherein said step S6 comprises,

s61, the robot (2) grabs the circuit board (102), moves a plug of the circuit board (102) to a position of a fixed camera on the rack (1) for photographing, and calculates plug placement position deviation;

s62, according to a calculation result, the robot (2) moves the circuit board (102) to a preset assembly position;

s63, the second driving piece (641) drives the inserting and pressing piece (642) to move downwards, and the inserting and pressing piece is pressed to the two ends of the plug of the circuit board (102);

s64, controlling the lifting driving piece on the frame (1) to operate so as to drive the assembly platform (3) to move upwards, so that the two circuit boards (102) are plugged, detecting and recording the pressure of the plugging pressing piece (642) in real time in the plugging process, and alarming and stopping the operation of the equipment if the pressure exceeds a control value.

10. The assembling method according to claim 6, wherein in the step S5, the step S7 and the step S9, the screw tightening process includes a cap searching stage, a quick tightening stage and a slow tightening stage; in the cap searching stage, the fastening mechanism (5) moves at a low speed and rotates for 90 degrees, so that unqualified detection is not triggered; in the rapid tightening stage, a tightening mechanism (5) adopts rapid tightening and adopts a tightening strategy of angle control and torque detection; in the slow tightening stage, a tightening strategy of torque control and angle detection is adopted.

11. The assembly method according to claim 10, wherein the magnitude of the tightening angle, the safety torque and the threshold torque are defined according to the screw type when a tightening strategy of angle control + torque detection is adopted; when the torque reaches a safe torque value, the tightening is stopped, and a tightening failure alarm is triggered; if the tightening process does not trigger the safety torque, judging whether the torque threshold is exceeded after the angle tightening is qualified; and when the angle tightening is qualified and the torque is within the set threshold range, performing the next tightening.

12. The assembly method according to claim 10, wherein when a tightening strategy of torque control+angle detection is adopted, a final screw torque value, a torque up-down line, an angle calculation torque threshold value and an angle management upper-lower limit are defined according to the product quality requirement of the transmission control unit (100); in the screwing process, if the torque or the angle exceeds the control range, screwing is stopped; when the torque is in the final torque range of the screw and the angle is also in the control range, the screw is screwed up to be qualified.

13. The assembly method of claim 10, wherein after screw tightening is completed, screw tightening torque, angle and tightening time are recorded for product quality traceability; a tightening process curve is recorded for optimizing the tightening strategy.