CN117697385A - Control method of connecting pipe nut assembling equipment, controller and assembling equipment - Google Patents
Control method of connecting pipe nut assembling equipment, controller and assembling equipment Download PDFInfo
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- CN117697385A CN117697385A CN202311525730.9A CN202311525730A CN117697385A CN 117697385 A CN117697385 A CN 117697385A CN 202311525730 A CN202311525730 A CN 202311525730A CN 117697385 A CN117697385 A CN 117697385A
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- 210000002445 nipple Anatomy 0.000 claims description 16
- 238000004519 manufacturing process Methods 0.000 abstract description 9
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- 238000000926 separation method Methods 0.000 description 4
- 238000004378 air conditioning Methods 0.000 description 3
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- 238000009434 installation Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
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Abstract
The invention discloses a control method of connecting pipe nut assembling equipment, a controller and the assembling equipment, and relates to the technical field of air conditioner assembling. The invention comprises driving a mechanical arm to move to a positioning point, driving a first suction device to suck a first connecting pipe nut, and driving a second suction device to suck a second connecting pipe nut. Under the condition that the suction is successful, the mechanical arm is driven to move to the pipe end of the stop valve, then the first motor is driven to screw the first pipe connection nut onto the first stop valve, and the second motor is driven to screw the second pipe connection nut onto the second stop valve. And finally, receiving the torsion value detected by the torque sensor, determining the assembling condition of the connecting pipe nut according to the torsion value, and outputting an abnormality alarm instruction under the condition that the assembling condition of the connecting pipe nut is abnormal according to the torsion value. The material taking and the assembly of the two nuts are completed in the same time, and unqualified products which cannot be determined through visual inspection can be screened out through the torsion value, so that the qualification rate and the production efficiency of the products are improved.
Description
Technical Field
The invention relates to the technical field of air conditioner assembly, in particular to a control method, a controller and assembly equipment of connecting pipe nut assembly equipment.
Background
In the production process of the air conditioner external unit, the connecting pipe nut is required to be installed and fixed. In addition, since two connecting pipe nuts installed by the connecting pipe nut assembling equipment are different in two specifications, in the installation process, the two connecting pipe nuts are required to be taken out twice respectively, the two connecting pipe nuts are installed, and then products subjected to the nut installation operation are sent to the next working procedure.
However, the time taken for the two material taking is long, and the product subjected to the nut mounting operation is not inspected and then put into the next process, which may cause the unqualified product assembly to flow into the next assembly process, thereby affecting the qualification rate and the production efficiency of the product.
Disclosure of Invention
The present invention has been made in view of the above-mentioned problems, and has as its object to provide a control method of a takeover nut fitting device, a controller and a fitting device which overcome or at least partially solve the above-mentioned problems.
Based on a first aspect of the present invention, there is provided a control method of a takeover nut assembly apparatus, the assembly apparatus including a robot arm, a first motor, a second motor, a torque sensor, a first aspirator, a second aspirator, and a controller that performs a control method comprising:
Driving the mechanical arm to move to a positioning point according to a first movement track;
driving the first aspirator to suck a first connecting pipe nut and driving the second aspirator to suck a second connecting pipe nut;
under the condition that the first connecting pipe nut and the second connecting pipe nut are successfully absorbed, driving the mechanical arm to move to the connecting pipe end of the stop valve;
driving the first motor to screw the first connecting pipe nut onto the connecting pipe end of the first stop valve, and driving the second motor to screw the second connecting pipe nut onto the connecting pipe end of the second stop valve;
receiving a torsion value detected by the torque sensor, and determining the assembling condition of the connecting pipe nut according to the torsion value, wherein the torsion value comprises a first torsion value corresponding to the first connecting pipe nut and a second torsion value corresponding to the second connecting pipe nut;
and under the condition that the assembly of the adapter nut is abnormal, outputting an abnormal alarm instruction.
There is also provided, in accordance with a second aspect of the present invention, a controller comprising:
one or more processors;
a memory;
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the control method of any of the above summary.
Based on a third aspect of the present invention, there is also provided a pipe nut assembling apparatus comprising the controller of the above summary.
Compared with the prior art, the invention comprises the steps of firstly driving the mechanical arm to move to a positioning point according to a first movement track, then driving the first suction device to suck a first connecting pipe nut, driving the second suction device to suck a second connecting pipe nut, driving the mechanical arm to move to the connecting pipe end of the stop valve under the condition that the first connecting pipe nut and the second connecting pipe nut are determined to be sucked successfully, then driving the first motor to screw the first connecting pipe nut to the connecting pipe end of the first stop valve, and driving the second motor to screw the second connecting pipe nut to the connecting pipe end of the second stop valve. And finally, receiving a torsion value detected by the torque sensor, determining the assembling condition of the connecting pipe nut according to the torsion value, wherein the torsion value comprises a first torsion value corresponding to the first connecting pipe nut and a second torsion value corresponding to the second connecting pipe nut, and outputting an abnormality alarm instruction under the condition that the assembling condition of the connecting pipe nut is abnormal. Therefore, the material taking and assembling of the nuts with different specifications can be completed in the same time, and unqualified products which cannot be determined by visual inspection can be screened out through the torsion value, so that the qualification rate and the production efficiency of the products can be improved.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures.
In the drawings:
fig. 1 is a schematic perspective view of a pipe nut assembling device according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of a mechanical arm according to an embodiment of the present invention;
FIG. 3 is an enlarged schematic view of the structure indicated at A in FIG. 2;
fig. 4 is a schematic diagram of a connection structure between a distributor and a distribution tray according to an embodiment of the present invention;
FIG. 5 is an enlarged schematic view of the structure indicated at B in FIG. 4;
FIG. 6 is a schematic flow chart of steps of a control method of a pipe nut assembling device according to an embodiment of the present invention;
FIG. 7 is a flow chart illustrating steps of another method for controlling a pipe nut assembly device according to an embodiment of the present invention;
FIG. 8 is a block diagram of a control device of a pipe nut assembling apparatus according to an embodiment of the present invention;
reference numerals: 1. a mechanical arm; 2. a first motor; 3. a second motor; 4. a first torque sensor; 5. a second torque sensor; 6. a first aspirator; 7. a second aspirator; 8. a distributor; 9. a first material distributing disc; 10. a second dividing tray; 11. a first cylinder; 12. a second cylinder; 13. a base; 14. an assembly line; 15. a positioning assembly; 16. an air conditioner external unit; 17. a first adapter nut; 18. and a second adapter nut.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The embodiment of the invention discloses a controller, which can comprise:
One or more processors;
a memory;
one or more programs stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the control method according to any one of the following inventive embodiments.
Referring to fig. 1-5, the embodiment of the invention also discloses a pipe nut assembling device, which can comprise the controller according to the embodiment of the invention. Further, referring to fig. 4 and 5, the assembling apparatus may further include two dispensers 8, a first tray 9 communicating with one of the dispensers 8, a second tray 10 communicating with the other of the dispensers 8, a first cylinder 11, a second cylinder 12, a base 13, and a clamping screw assembly, wherein the first cylinder 11 and the second cylinder 12 are disposed opposite to each other on the base 13, and the first tray 9 and the second tray 10 are slidably connected to the base 13, respectively.
The two dispensers 8 respectively realize the material separation of a first connecting pipe nut 17 and a second connecting pipe nut 18, wherein the specifications of the first connecting pipe nut 17 and the second connecting pipe nut 18 are different. For example, the first union nut 17 is fixed to the union end of the high-pressure cutoff valve (may also be referred to as a first cutoff valve) of the air-conditioning external unit 16, and the second union nut 18 is fixed to the union end of the low-pressure cutoff valve (may also be referred to as a second cutoff valve) of the air-conditioning external unit 16.
In one example, the dispenser 8 may comprise a vibrating tray and a conveyor belt, wherein the conveyor belt communicates the vibrating tray with the first dispensing tray 9, or the conveyor belt communicates the vibrating tray with the second dispensing tray 10. For example, both conveyor belts may be arranged obliquely, so that when one of the vibration plates is in communication with the first distributing plate 9, the first connecting pipe nut 17 in the vibration plate enters the conveyor belt and slides down into the first distributing plate 9 under the action of gravity, wherein the first distributing plate 9 forms a limit for the first connecting pipe nut 17.
When the other vibration plate is communicated with the second distributing plate 10, the second connecting pipe nut 18 in the vibration plate enters the transmission belt and slides into the second distributing plate 10 under the action of gravity, wherein the second distributing plate 10 forms limit for the second connecting pipe nut 18.
Referring to fig. 2 and 3, the assembling apparatus may further include a mechanical arm 1, a rotary motion output device fixed at a top end of the mechanical arm 1, a first motor 2, a second motor 3, a first torque sensor 4, a second torque sensor 5, a first aspirator 6, and a second aspirator 7, wherein the first torque sensor 4 is disposed between the first motor 2 and the first aspirator 6, and the second torque sensor 5 is disposed between the second motor 3 and the second aspirator 7.
In an example, the two ends of the first torque sensor 4 may be coaxially fixed to the output shaft of the first motor 2 and the central shaft of the first aspirator 6, respectively, and the two ends of the second torque sensor 5 may be coaxially fixed to the output shaft of the second motor 3 and the central shaft of the second aspirator 7, respectively, through a coupling. Wherein, the first motor 2 and the second motor 3 can be servo motors and the like.
In some embodiments, the first aspirator 6 may include a first vacuum generator and a first vacuum switch mounted on the first vacuum generator, the first vacuum generator being coaxially fixed with the first torque sensor 4. The second aspirator 7 comprises a second vacuum generator and a second vacuum switch mounted on the second vacuum generator, and the second vacuum generator is coaxially fixed with the second torque sensor 5. The vacuum generator generates negative pressure by utilizing a positive pressure air source, so that the connecting pipe nut can be sucked through pressure, and the vacuum switch is used for detecting the vacuum degree in the vacuum generator so as to determine whether the suction pipe opening of the vacuum generator is successfully adsorbed to the connecting pipe nut or not through the vacuum degree.
The mechanical arm 1, the first motor 2, the second motor 3, the first torque sensor 4, the second torque sensor 5, the first aspirator 6, the second aspirator 7, the first cylinder 11 and the second cylinder 12 are respectively and electrically connected with the controller. The controller may include, but is not limited to, a single-chip microcomputer, a PLC (Programmable Logic Controller ), and the like.
In summary, the embodiments of the invention described below can be applied to the pipe nut assembling apparatus, so that the mechanical arm 1 is driven to move to the positioning point according to the first movement track, then the first aspirator 6 is driven to suck the first pipe nut 17, the second aspirator 7 is driven to suck the second pipe nut 18, and in the case that it is determined that both the first pipe nut 17 and the second pipe nut 18 are sucked successfully, the mechanical arm 1 is driven to move to the pipe end of the stop valve, then the first motor 2 is driven to screw the first pipe nut 17 to the pipe end of the first stop valve, and the second motor 3 is driven to screw the second pipe nut 18 to the pipe end of the second stop valve. And finally, receiving the torsion value detected by the torque sensor, determining the assembling condition of the connecting pipe nut according to the torsion value, and outputting an abnormality alarm instruction under the condition of determining the abnormal assembling condition of the connecting pipe nut. Therefore, the material taking and the assembly of the two nuts can be completed in the same time, and unqualified products which cannot be determined by visual inspection can be screened out through the torsion value, so that the qualification rate and the production efficiency of the products can be improved.
Referring to fig. 6, an embodiment of the present invention provides a control method of a takeover nut assembly device, which may include:
s601, driving the mechanical arm to move to a positioning point according to a first movement track.
S602, driving the first aspirator to suck the first connecting pipe nut, and driving the second aspirator to suck the second connecting pipe nut.
In the embodiment of the present invention, the first motion track is a preset motion track based on the positions of the first aspirator 6 and the second aspirator 7 on the mechanical arm 1, relative to the position of the positioning point. Therefore, the mechanical arm 1 can be driven to move according to the first movement track to reach a positioning point. When the mechanical arm 1 reaches the positioning point, the first aspirator 6 located on the mechanical arm 1 may be opposite to the first positioning point, and the second aspirator 7 located on the mechanical arm 1 may be opposite to the second positioning point, where, in the case that the first cylinder 11 and the second cylinder 12 are fully extended, the distance between the first distributing disc 9 and the second distributing disc 10 is equal to the distance between the first aspirator 6 and the second aspirator 7.
Thereby, when the mechanical arm 1 moves to the positioning point, the first aspirator 6 is facing the first tray 9, and the second aspirator 7 is facing the second tray 10. And synchronously driving the first aspirator 6 and the second aspirator 7, so that the first aspirator 6 sucks the first connecting pipe nut 17 in the first distributing tray 9, and the second aspirator 7 sucks the second connecting pipe nut 18 in the second distributing tray 10.
And S603, under the condition that the first connecting pipe nut and the second connecting pipe nut are successfully absorbed, driving the mechanical arm to move to the connecting pipe end of the stop valve.
In the embodiment of the present invention, a sensing device may be used to detect the suction condition of the first suction device 6 and the suction condition of the second suction device 7, and the mechanical arm 1 is driven to move to the pipe end of the stop valve when it is determined that the suction of the first pipe connection nut 17 and the second pipe connection is successful. So that the first aspirator 6 and the second aspirator 7 are respectively corresponding to the installation hole positions of the connecting pipe ends of the two stop valves. The movement track of the mechanical arm 1 moving to the connecting pipe end of the stop valve can also be preset, and when the air conditioner external unit 16 flows on the assembly line 14, the assembly position of the connecting pipe end of the stop valve is defined by the positioning assembly 15, so that the assembly of the first connecting pipe nut 17 and the second connecting pipe nut 18 can be facilitated.
S604, driving the first motor to screw the first connecting pipe nut onto the connecting pipe end of the first stop valve, and driving the second motor to screw the second connecting pipe nut onto the connecting pipe end of the second stop valve.
S605, receiving the torsion value detected by the torque sensor, and determining the assembling condition of the connecting pipe nut according to the torsion value.
S606, outputting an abnormality alarm instruction under the condition that the assembly of the connecting pipe nut is abnormal.
In the embodiment of the present invention, the first motor 2 is driven to rotate to screw the first pipe connection nut 17 to the pipe connection end of the first stop valve, and the second motor 3 is driven to rotate to screw the second pipe connection nut 18 to the pipe connection end of the second stop valve. And receiving the torsion value detected by the torque sensor, and determining the assembling condition of the connecting pipe nut according to the torsion value. When the torque value reaches a set value, the corresponding connecting pipe nut is normally assembled; otherwise, the assembling of the connecting pipe nut is abnormal. The torsion values may include a first torsion value corresponding to the first union nut 17 and a second torsion value corresponding to the second union nut 18. When the first connecting pipe nut 17 is determined according to the torque value and/or the second connecting pipe nut 18 is abnormally assembled, the current air conditioner external unit 16 is determined to be unqualified in assembly, and therefore an abnormality alarm command can be output.
In one example, the abnormality alert instruction may be correspondingly different depending on the alert device. In some embodiments, the alarm device may include an audible and visual alarm electrically connected to the controller, so as to output an abnormal alarm command, which may be an output audible and visual start command, to start the audible and visual alarm to alarm. Therefore, workers can rapidly overhaul unqualified products, the qualification rate of the products can be improved, repairing of the air conditioner external unit 16 after the whole machine assembly is completed is avoided, and the production efficiency of the air conditioner external unit 16 is improved.
Referring to fig. 7, an embodiment of the present invention further provides another control method of a takeover nut assembly device, which may include:
s701, starting two dispensers to make a first pipe nut enter a first material distributing tray, and making a second pipe nut enter a second material distributing tray.
S702, receiving a distance sensing signal detected by the distance measuring sensor, and determining whether the first and second material distribution trays are abnormal according to the distance sensing signal.
In the embodiment of the present invention, infrared ranging sensors may be installed in the first tray 9 and the second tray 10, respectively, or the ranging sensors may be installed on the base 13 in a direction toward the first tray 9 and the second tray 10, where the ranging sensors are electrically connected to the controller, and the ranging sensors include a first ranging sensor for detecting whether a first adapter nut 17 is present in the first tray 9, and a second ranging sensor for detecting whether a second adapter nut 18 is present in the second tray 10. For example, when the first nozzle nut 17 enters the first distributor tray 9, the first distance measuring sensor may change a significant distance sensing signal, and so on, so that it is possible to determine whether the first distributor tray 9 has the first nozzle nut 17 and whether the second distributor tray 10 has the second nozzle nut 18 by receiving the distance sensing signal detected by the distance measuring sensor.
A dispensing abnormality is understood to mean that at most one dispensing disc has a nipple nut. In other words, in the case where the first takeover nut 17 is detected in the first tray 9 and the second takeover nut 18 is not detected in the second tray 10, the abnormal dispensing is determined. In another example, in the case that the first nozzle nut 17 is not detected in the first tray 9 and the second nozzle nut 18 is detected in the second tray 10, the abnormal dispensing is determined. In yet another example, in case that no first adapter nut 17 is detected in the first tray 9 and no second adapter nut 18 is detected in the second tray 10, a dispensing abnormality is determined.
In the case that the first and second distribution trays 9 and 10 are detected to be normally distributed, the following step S703 is performed; in the case where the abnormal dispensing of the first and second dispensing trays 9 and 10 is detected, the following step S704 is performed.
S703, driving the first cylinder to drive the first distributing disc to a first positioning point, and driving the second cylinder to drive the second distributing disc to a second positioning point.
In the embodiment of the present invention, when the piston rod of the first cylinder 11 is fully extended, the first distributing disc 9 is pushed to reach the first positioning point, and when the piston rod of the second cylinder 12 is fully extended, the second distributing disc 10 is pushed to reach the second positioning point. Thereby, the distance between the first and second trays 9 and 10 is equal to the distance between the first and second suction devices 6 and 7 with the first and second cylinders 11 and 12 fully extended. Therefore, the mechanical arm 1 can be driven to move according to the first movement track subsequently to reach a positioning point. When the mechanical arm 1 reaches the positioning point, the first aspirator 6 located on the mechanical arm 1 may be opposite to the first positioning point, and the second aspirator 7 located on the mechanical arm 1 may be opposite to the second positioning point.
S704, determining whether the abnormal times of material separation reach the preset abnormal times.
In the embodiment of the present invention, the preset number of abnormalities may be predetermined, which is used to determine the assembly abnormality of the air conditioner external unit 16. And under the condition that the abnormal material distribution times are continuously determined, accumulating the times. For example, after the first detection of the abnormal dispensing, the number of abnormal dispensing times was recorded as 1, and after the second detection of the abnormal dispensing, the number of abnormal dispensing times was recorded as 2. If the second time detects that the material distribution is normal, the abnormal times of the material distribution are updated to be 0.
In the case that the number of the material-dividing anomalies is greater than or equal to (up to) the preset number of anomalies, determining that the assembly is abnormal, and executing the following step S705; in case that the number of abnormal dispensing times is smaller than (not reached to) the preset number of abnormal dispensing times, S702 is repeatedly performed, that is, whether abnormal dispensing exists in the first and second dispensing trays 9 and 10 is re-detected.
S705, outputting a material separation alarm instruction.
In the embodiment of the invention, when the abnormal times of the material distribution reach the preset abnormal times, a material distribution alarm instruction needs to be output, and a worker is timely informed to carry out maintenance and overhaul. The main reasons for abnormal material distribution at least comprise the following two aspects: firstly, no connecting pipe nut is needed to feed in the distributor 8, and secondly, the distributor 8 fails.
S706, driving the mechanical arm to move to a positioning point according to the first movement track.
S707, driving the first aspirator to suck a first connecting pipe nut positioned at a first positioning point, and driving the second aspirator to suck a second connecting pipe nut positioned at a second positioning point.
In the embodiment of the present invention, the description of steps S706 to S707 refers to the description of steps S601 to S602 described above.
S708, receiving the first vacuum degree detected by the first vacuum switch and the second vacuum degree detected by the second vacuum switch.
S709, determining whether the first vacuum degree and the second vacuum degree satisfy an abnormal suction condition.
In the embodiment of the present invention, for the first aspirator 6 and the second aspirator 7, the first vacuum degree of the first vacuum switch is obviously changed when the first aspirator 6 is aspirated to the first adapter nut 17, and the second vacuum degree of the second vacuum switch is obviously changed when the second aspirator 7 is aspirated to the second adapter nut 18. Thus, it is possible to determine whether the abnormal suction condition is satisfied by receiving the first vacuum degree detected by the first vacuum switch and the second vacuum degree detected by the second vacuum switch. Wherein the abnormal suction condition may include at least: at most one aspirator is aspirating to the adapter nut.
In an example, the corresponding first threshold value may be determined in advance according to the first vacuum degree detected by the first vacuum switch when the first aspirator 6 aspirates the first adapter nut 17; the corresponding second threshold value may be determined in advance according to the second vacuum degree detected by the second vacuum switch when the second aspirator 7 aspirates the second adapter nut 18. Therefore, if the first vacuum is smaller than the first threshold value, it is determined that the first aspirator 6 is not aspirating the first nipple nut 17. If the second vacuum is less than the second threshold, it is determined that the second aspirator 7 is not aspirating the second nipple nut 18.
In one example, if the first vacuum level is less than a first threshold and the second vacuum level is greater than or equal to a second threshold, it is determined that the first and second vacuum levels satisfy an abnormal suction condition. In another example, if the first vacuum degree is greater than or equal to a first threshold value and the second vacuum degree is less than a second threshold value, it is determined that the first vacuum degree and the second vacuum degree satisfy an abnormal suction condition. In yet another example, if the first vacuum level is less than a first threshold and the second vacuum level is less than a second threshold, it is determined that the first vacuum level and the second vacuum level satisfy an abnormal suction condition.
In the embodiment of the present invention, in the case that it is determined that the first vacuum degree and the second vacuum degree satisfy the abnormal suction condition, the following step S710 is performed; in the case where it is determined that the first vacuum degree and the second vacuum degree do not satisfy the abnormal suction condition (i.e., the suction of both the first takeover nut 17 and the second takeover nut 18 is successful), the following step S711 is performed.
S710, driving the mechanical arm to move to the positioning point again, and driving the first aspirator and/or the second aspirator to suck the connecting pipe nut again.
In the embodiment of the present invention, the following three movement tracks of the mechanical arm 1 may be preset according to three conditions that conform to abnormal suction conditions.
In the case that the first vacuum degree is smaller than a first threshold value and the second vacuum degree is smaller than a second threshold value, it is determined that neither the first aspirator 6 nor the second aspirator 7 is aspirating to the take-over nut, and thus, the mechanical arm 1 can be driven to move to the positioning point according to a first movement track, and then the first aspirator 6 is driven to aspirate the first take-over nut 17 and the second aspirator 7 is driven to aspirate the second take-over nut 18.
In the case where the first vacuum degree is smaller than a first threshold value and the second vacuum degree is greater than or equal to a second threshold value, it is determined that the first aspirator 6 is not aspirating to the first takeover nut 17 and the second aspirator 7 is aspirating to the second takeover nut 18. Thereby, the mechanical arm 1 can be driven to move to the positioning point according to the second movement track, and the first aspirator 6 is driven to suck the first connecting pipe nut 17 again. Wherein, the second motion track can make the second aspirator 7 avoid the second positioning point, and the first aspirator 6 is opposite to the first positioning point.
In the case where the first vacuum degree is greater than or equal to a first threshold value and the second vacuum degree is less than a second threshold value, it is determined that the first aspirator 6 is aspirating to the first take-over nut 17 and the second aspirator 7 is not aspirating to the second take-over nut 18. Thereby, the mechanical arm 1 can be driven to move to the positioning point according to the third movement track, and the second aspirator 7 is driven to suck the second connecting pipe nut 18 again. Wherein, the third motion track can make the first aspirator 6 avoid the first positioning point, and the second aspirator 7 is opposite to the second positioning point.
And, after the take-over nut is re-sucked, the above-described step S709 is repeatedly performed. And judging whether the abnormal times of suction reach the preset times of suction. The preset number of suction times is used for determining the abnormal operation of the suction device. Wherein, the times of the abnormal suction are accumulated when the abnormal suction is continuously detected. For example, after the first detection of suction abnormality, the number of suction abnormality is recorded as 1, and after the second detection of suction abnormality, the number of suction abnormality is recorded as 2. If the second time detects that the suction is normal, the abnormal suction frequency is updated to 0.
And under the condition that the abnormal times of suction are greater than or equal to (up to) the preset times of suction, determining that the suction device operates abnormally, and outputting a suction alarm instruction to prompt a worker to perform equipment maintenance and overhaul on the first suction device 6 and/or the second suction device 7. In the case where the number of suction abnormalities is smaller than (not reached to) the preset number of suction, the above-described step S709 is repeatedly executed.
S711, driving the mechanical arm to move to the connecting pipe end of the stop valve.
In the embodiment of the present invention, a sensing device may be used to detect the suction condition of the first suction device 6 and the suction condition of the second suction device 7, and the mechanical arm 1 is driven to move to the pipe end of the stop valve when it is determined that the suction of the first pipe connection nut 17 and the second pipe connection is successful. So that the first aspirator 6 and the second aspirator 7 are respectively corresponding to the installation hole positions of the connecting pipe ends of the two stop valves. The movement track of the mechanical arm 1 moving to the connecting pipe end of the stop valve can also be preset, and when the air conditioner external unit 16 flows on the assembly line 14, the assembly position of the connecting pipe end of the stop valve is defined by the positioning assembly 15, so that the assembly of the first connecting pipe nut 17 and the second connecting pipe nut 18 can be facilitated.
And S712, driving the first motor to screw the first connecting pipe nut onto the connecting pipe end of the first stop valve, and driving the second motor to screw the second connecting pipe nut onto the connecting pipe end of the second stop valve.
S713, receiving the torsion value detected by the torque sensor, and determining the assembling condition of the connecting pipe nut according to the torsion value.
S714, outputting an abnormality alarm instruction under the condition that the assembly of the adapter nut is abnormal.
In the embodiment of the present invention, the first motor 2 is driven to rotate so as to screw the first pipe connection nut 17 onto the pipe connection end of the first stop valve, and the second motor 3 is synchronously driven to rotate so as to screw the second pipe connection nut 18 onto the pipe connection end of the second stop valve. And receiving the torsion value detected by the torque sensor, and determining the assembling condition of the connecting pipe nut according to the torsion value. When the torsion value reaches a set value, the corresponding connecting pipe nut is normally assembled and qualified. On the contrary, when it is determined that the first connection pipe nut 17 and/or the second connection pipe nut 18 are/is abnormally assembled according to the torque value, it is determined that the current air conditioner external unit 16 is not assembled, and thus an abnormality alarm command can be output.
Thereby, a corresponding first torsion threshold can be determined for the assembled good product of the first adapter nut 17. For the assembled good product of the second nipple nut 18, a corresponding second torque threshold is determined.
In one example, the abnormality alert instruction may be correspondingly different depending on the alert device. In some embodiments, the alarm device may include an audible and visual alarm electrically connected to the controller, so as to output an abnormal alarm command, which may be an output audible and visual start command, to start the audible and visual alarm to alarm. So that workers can rapidly overhaul unqualified products, and the qualification rate and the production efficiency of the products can be improved.
In an alternative embodiment of the invention, the determining the assembling condition of the adapter nut according to the torsion value includes:
and under the condition that at least one connecting pipe nut is screwed to a preset depth and the corresponding torsion value does not reach the preset torsion value, determining that the corresponding connecting pipe nut is abnormal in assembly.
In the embodiment of the invention, the preset depth can be determined according to the rotating speed of the servo motor and the nut specification corresponding to the connecting pipe nut. Which is used to characterize the upper limit length (which can also be understood as the lower limit on the nipple end) over which the nipple nut can be screwed, so that the preset depth can comprise a first preset depth provided for the first nipple nut 17 and a second preset depth provided for the second nipple nut 18. Wherein the first preset depth and the second preset depth may be the same. In the case that it is determined that the first wand nut 17 is screwed to the first preset depth and the corresponding first torsion value does not reach (is smaller than) the first torsion threshold value, it is determined that the first wand nut 17 is abnormally assembled.
In another example, in the event that it is determined that the second union nut 18 is threaded to a second preset depth and the corresponding second torque value does not reach (is less than) the second torque threshold, it is determined that the second union nut 18 is abnormally assembled.
In yet another example, in the event that it is determined that the first union nut 17 is screwed to a first preset depth and the corresponding first torque value does not reach (is less than) the first torque threshold value, and that the second union nut 18 is screwed to a second preset depth and the corresponding second torque value does not reach (is less than) the second torque threshold value, it is determined that both the first and second union nuts 17, 18 are abnormally assembled.
In another optional embodiment of the invention, the determining the assembling condition of the adapter nut according to the torsion value includes:
and under the condition that the screwing time length of at least one connecting pipe nut reaches the preset time length and the corresponding torsion value does not reach the preset torsion value, determining that the corresponding connecting pipe nut is abnormal in assembly.
In the embodiment of the invention, the preset time length is used for representing the preset time length for which the connecting pipe nut can be assembled in place on the connecting pipe end. When the screw-on time length is greater than or equal to (up to) the preset time length, it can be determined that the nipple nut has been screwed onto the nipple end in a qualified assembly position, at which the torque value should theoretically reach the preset torque value. The preset time period may include a first preset time period preset for the first takeover nut 17 and a second preset time period preset for the second takeover nut 18.
In case it is determined that the screwing duration of the first union nut 17 reaches a first preset duration and the corresponding first torque value is smaller (not reached) than a first torque threshold, it is determined that the first union nut 17 is abnormally assembled.
In case it is determined that the screwing duration of the second union nut 18 reaches a second preset duration and the corresponding second torque value is smaller (not reached) than the second torque threshold, it is determined that the second union nut 18 is abnormally assembled.
In case it is determined that the screwing duration of the first takeover nut 17 reaches a first preset duration and the corresponding first torque value is smaller (not reached) than a first torque threshold value, and in case it is determined that the screwing duration of the second takeover nut 18 reaches a second preset duration and the corresponding second torque value is smaller (not reached) than a second torque threshold value, it is determined that both the first takeover nut 17 and the second takeover nut 18 are abnormally assembled.
In the case of determining that the first adapter nut 17 and/or the second adapter nut 18 are/is abnormally assembled, it is determined that the current air-conditioning outdoor unit 16 is not properly assembled, and thus an abnormality warning command can be output.
In an alternative embodiment of the invention, after outputting the abnormality warning command, the positioning assembly 15 may be further driven to act to release the position limitation of the air conditioner external unit 16, so that a worker may be prevented from transferring the unqualified air conditioner external unit 16 from the assembly line 14 to the maintenance area.
In summary, the embodiment of the invention discloses a control method, a controller and an assembling device of a pipe nut assembling device, wherein the method may include driving the mechanical arm 1 to move to a positioning point according to a first movement track, driving the first aspirator 6 to suck the first pipe nut 17, driving the second aspirator 7 to suck the second pipe nut 18, driving the mechanical arm 1 to move to a pipe end of a stop valve when it is determined that both the first pipe nut 17 and the second pipe nut 18 are sucked successfully, driving the first motor 2 to screw the first pipe nut 17 to the pipe end of the first stop valve, and driving the second motor 3 to screw the second pipe nut 18 to the pipe end of the second stop valve. And finally, receiving the torsion value detected by the torque sensor, determining the assembling condition of the connecting pipe nut according to the torsion value, and outputting an abnormality alarm instruction under the condition of determining the abnormal assembling condition of the connecting pipe nut. Therefore, the material taking and the assembly of the two nuts can be completed in the same time, and unqualified products which cannot be determined by visual inspection can be screened out through the torsion value, so that the qualification rate and the production efficiency of the products can be improved.
In addition, the first connecting pipe nut 17 and the second connecting pipe nut 18 are assembled based on the control method, so that the assembling efficiency of the connecting pipe nuts can be improved, unqualified products can be effectively prevented from flowing into the next assembling process, the automation degree of the assembly line 14 can be improved, and meanwhile, the product qualification rate of the air conditioner external unit 16 can be improved.
It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are all preferred embodiments and that the acts referred to are not necessarily required by the embodiments of the present application.
Referring to fig. 8, a control device for a pipe nut assembling apparatus according to an embodiment of the present invention is shown, the device may include:
the first driving module 801 of the mechanical arm is configured to drive the mechanical arm 1 to move to a positioning point according to a first motion track.
A aspirator driving module 802, configured to drive the first aspirator 6 to aspirate the first nozzle nut 17, and drive the second aspirator 7 to aspirate the second nozzle nut 18.
And the mechanical arm second driving module 803 is used for driving the mechanical arm 1 to move to the connecting pipe end of the stop valve under the condition that the first connecting pipe nut 17 and the second connecting pipe nut 18 are successfully sucked.
A motor driving module 804, configured to drive the first motor 2 to screw the first connection nut 17 onto the connection end of the first stop valve, and drive the second motor 3 to screw the second connection nut 18 onto the connection end of the second stop valve.
The torque value detection module 805 is configured to receive the torque value detected by the torque sensor, and determine the fitting condition of the union nut according to the torque value, where the torque value includes a first torque value corresponding to the first union nut 17 and a second torque value corresponding to the second union nut 18.
The abnormality alarm module 806 is configured to output an abnormality alarm instruction when it is determined that the adapter nut is assembled abnormally.
In an alternative embodiment of the invention, the abnormality alarm module 806 is further configured to:
and under the condition that at least one connecting pipe nut is screwed to a preset depth and the corresponding torsion value does not reach the preset torsion value, determining that the corresponding connecting pipe nut is abnormal in assembly.
In an alternative embodiment of the invention, the abnormality alarm module 806 is further configured to:
and under the condition that the screwing time length of at least one connecting pipe nut reaches the preset time length and the corresponding torsion value does not reach the preset torsion value, determining that the corresponding connecting pipe nut is abnormal in assembly.
In an alternative embodiment of the invention, the apparatus may further include:
and the vacuum degree receiving module is used for receiving the first vacuum degree detected by the first vacuum switch and the second vacuum degree detected by the second vacuum switch.
And the third driving module of the mechanical arm is used for driving the mechanical arm 1 to move to the positioning point again and driving the first aspirator 6 and/or the second aspirator 7 to suck the connecting pipe nut again under the condition that the first vacuum degree and the second vacuum degree meet the abnormal sucking condition.
In an alternative embodiment of the invention, the third driving module of the mechanical arm 1 may further be used for:
and if the first vacuum degree is smaller than a first threshold value and/or the second vacuum degree is smaller than a second threshold value, determining that the first vacuum degree and the second vacuum degree meet an abnormal suction condition.
In an alternative embodiment of the invention, the third driving module of the mechanical arm 1 may further be used for:
And under the condition that the first vacuum degree is smaller than a first threshold value and the second vacuum degree is smaller than a second threshold value, driving the mechanical arm 1 to move to the positioning point according to a first movement track, driving the first aspirator 6 to suck the first connecting pipe nut 17, and driving the second aspirator 7 to suck the second connecting pipe nut 18.
And under the condition that the first vacuum degree is smaller than a first threshold value and the second vacuum degree is larger than or equal to a second threshold value, driving the mechanical arm 1 to move to the positioning point according to a second movement track, and driving the first aspirator 6 to suck the first connecting pipe nut 17 again.
And under the condition that the first vacuum degree is larger than or equal to a first threshold value and the second vacuum degree is smaller than a second threshold value, driving the mechanical arm 1 to move to the positioning point according to a third movement track, and driving the second aspirator 7 to suck the second connecting pipe nut 18 again.
In an alternative embodiment of the invention, the apparatus may further include:
the material distribution detection module is used for detecting whether the first material distribution tray 9 and the second material distribution tray 10 are abnormal in material distribution, wherein the abnormal material distribution refers to that no more than one material distribution tray is provided with a connecting pipe nut.
The frequency accumulation module is used for receiving the distance sensing signal detected by the distance measuring sensor and determining whether the first material distributing disc 9 and the second material distributing disc 10 are abnormal in material distribution according to the distance sensing signal, wherein the abnormal material distribution refers to that at most one material distributing disc is provided with a connecting pipe nut.
The frequency accumulation module is further used for outputting a material distribution alarm instruction when the abnormal material distribution frequency reaches the preset abnormal frequency.
In an alternative embodiment of the invention, the material separation detection module is further configured to:
under the condition that the material distribution is determined to be normal, the first cylinder 11 is driven to drive the first material distribution disc 9 to a first positioning point, and the second cylinder 12 is driven to drive the second material distribution disc 10 to a second positioning point.
In summary, the control device of the pipe nut assembling device provided by the embodiment of the invention may include driving the mechanical arm 1 to move to a positioning point according to a first movement track, driving the first aspirator 6 to suck the first pipe nut 17, driving the second aspirator 7 to suck the second pipe nut 18, driving the mechanical arm 1 to move to a pipe end of a stop valve when it is determined that both the first pipe nut 17 and the second pipe nut 18 are sucked successfully, driving the first motor 2 to screw the first pipe nut 17 to the pipe end of the first stop valve, and driving the second motor 3 to screw the second pipe nut 18 to the pipe end of the second stop valve. And finally, receiving the torsion value detected by the torque sensor, determining the assembling condition of the connecting pipe nut according to the torsion value, and outputting an abnormality alarm instruction under the condition of determining the abnormal assembling condition of the connecting pipe nut. Therefore, the material taking and the assembly of the two nuts can be completed in the same time, and unqualified products which cannot be determined by visual inspection can be screened out through the torsion value, so that the qualification rate and the production efficiency of the products can be improved.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
As will be readily appreciated by those skilled in the art: any combination of the above embodiments is possible, and thus is an embodiment of the present invention, but the present specification is not limited by the text.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Claims (10)
1. A control method of a pipe nut assembling apparatus, characterized in that the assembling apparatus includes a mechanical arm, a first motor, a second motor, a torque sensor, a first aspirator, a second aspirator, and a controller, the controller executes the control method comprising:
Driving the mechanical arm to move to a positioning point according to a first movement track;
driving the first aspirator to suck a first connecting pipe nut and driving the second aspirator to suck a second connecting pipe nut;
under the condition that the first connecting pipe nut and the second connecting pipe nut are successfully absorbed, driving the mechanical arm to move to the connecting pipe end of the stop valve;
driving the first motor to screw the first connecting pipe nut onto the connecting pipe end of the first stop valve, and driving the second motor to screw the second connecting pipe nut onto the connecting pipe end of the second stop valve;
receiving a torsion value detected by the torque sensor, and determining the assembling condition of the connecting pipe nut according to the torsion value, wherein the torsion value comprises a first torsion value corresponding to the first connecting pipe nut and a second torsion value corresponding to the second connecting pipe nut;
and under the condition that the assembly of the adapter nut is abnormal, outputting an abnormal alarm instruction.
2. The method for controlling a nipple nut assembling apparatus according to claim 1, wherein said determining a nipple nut assembling condition according to the torque value includes:
and under the condition that at least one connecting pipe nut is screwed to a preset depth and the corresponding torsion value does not reach the preset torsion value, determining that the corresponding connecting pipe nut is abnormal in assembly.
3. The method for controlling a nipple nut assembling apparatus according to claim 1, wherein said determining a nipple nut assembling condition according to the torque value includes:
and under the condition that the screwing time length of at least one connecting pipe nut reaches the preset time length and the corresponding torsion value does not reach the preset torsion value, determining that the corresponding connecting pipe nut is abnormal in assembly.
4. The control method of the pipe nut assembling apparatus according to claim 1, wherein the first aspirator includes a first vacuum generator and a first vacuum switch, and the second aspirator includes a second vacuum generator and a second vacuum switch;
after the driving the second aspirator to aspirate a second nipple nut, the method further comprises:
receiving a first vacuum degree detected by the first vacuum switch and a second vacuum degree detected by the second vacuum switch;
under the condition that the first vacuum degree and the second vacuum degree meet abnormal suction conditions, driving the mechanical arm to move to the positioning point again, and driving the first aspirator and/or the second aspirator to suck the connecting pipe nut again.
5. The method of controlling a takeover nut assembly device according to claim 4, wherein the determining that the first vacuum degree and the second vacuum degree satisfy an abnormal suction condition includes:
And if the first vacuum degree is smaller than a first threshold value and/or the second vacuum degree is smaller than a second threshold value, determining that the first vacuum degree and the second vacuum degree meet an abnormal suction condition.
6. The control method of the wand nut assembling apparatus according to claim 5, wherein said driving the mechanical arm to move again to the positioning point and driving the first aspirator and/or the second aspirator to suck the wand nut again includes:
when the first vacuum degree is smaller than a first threshold value and the second vacuum degree is smaller than a second threshold value, driving the mechanical arm to move to the positioning point according to a first movement track, driving the first aspirator to suck a first connecting pipe nut, and driving the second aspirator to suck a second connecting pipe nut;
when the first vacuum degree is smaller than a first threshold value and the second vacuum degree is larger than or equal to a second threshold value, driving the mechanical arm to move to the positioning point according to a second movement track, and driving the first aspirator to suck the first connecting pipe nut again;
and under the condition that the first vacuum degree is larger than or equal to a first threshold value and the second vacuum degree is smaller than a second threshold value, driving the mechanical arm to move to the positioning point according to a third movement track, and driving the second aspirator to suck the second connecting pipe nut again.
7. The control method of the pipe nut assembling apparatus according to claim 1, wherein the assembling apparatus further comprises two dispensers, a first dispensing tray, a second dispensing tray, a first cylinder, a second cylinder, and a ranging sensor;
before the mechanical arm is driven to move to the positioning point according to the first movement track, the method further comprises the following steps:
receiving a distance sensing signal detected by the distance measuring sensor, and determining whether the first material distribution tray and the second material distribution tray are abnormal according to the distance sensing signal, wherein the abnormal material distribution refers to that at most one material distribution tray is provided with a connecting pipe nut;
under the condition that the material distribution abnormality is determined, determining whether the material distribution abnormality exists in the first material distribution tray and the second material distribution tray, and accumulating the material distribution abnormality times;
and outputting a material distribution alarm instruction when the material distribution abnormal times reach the preset abnormal times.
8. The control method of the takeover nut fitting apparatus according to claim 7, characterized in that the method further comprises:
under the condition that the material distribution is determined to be normal, the first cylinder is driven to drive the first material distribution disc to a first positioning point, and the second cylinder is driven to drive the second material distribution disc to a second positioning point.
9. A controller, the controller comprising:
one or more processors;
a memory;
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the control method of any of claims 1-8.
10. A nipple nut assembly device, characterized in that the assembly device comprises the controller of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311525730.9A CN117697385A (en) | 2023-11-15 | 2023-11-15 | Control method of connecting pipe nut assembling equipment, controller and assembling equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311525730.9A CN117697385A (en) | 2023-11-15 | 2023-11-15 | Control method of connecting pipe nut assembling equipment, controller and assembling equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117697385A true CN117697385A (en) | 2024-03-15 |
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ID=90159656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311525730.9A Pending CN117697385A (en) | 2023-11-15 | 2023-11-15 | Control method of connecting pipe nut assembling equipment, controller and assembling equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117697385A (en) |
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2023
- 2023-11-15 CN CN202311525730.9A patent/CN117697385A/en active Pending
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