CN108267084A - Contact assembles automatic test approach and automatic checkout system - Google Patents
Contact assembles automatic test approach and automatic checkout system Download PDFInfo
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- CN108267084A CN108267084A CN201711483183.7A CN201711483183A CN108267084A CN 108267084 A CN108267084 A CN 108267084A CN 201711483183 A CN201711483183 A CN 201711483183A CN 108267084 A CN108267084 A CN 108267084A
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- component
- actuating station
- pressure
- coordinate
- assembling
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
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- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention relates to the technical fields of automation, disclose contact assembling automatic test approach, for detecting the assembling situation of the first component and second component automatically, the second component is installed on the first component upper end, intelligent machine arm is provided, the intelligent machine arm includes actuating station, and the contact assembling automatic test approach includes the following steps：The fixed first component identifies the position of the second component；The actuating station is moved to the second component side and towards moving under the second component, detect the active force from the second component, by the way that whether second component is installed in place described in the position judgment of the actuating station at this time, without manually participating in test process, without special tooling, have many advantages, such as that use cost is low, automation and intelligentification degree is high, testing efficiency is high.
Description
Technical field
The present invention relates to automation technical field more particularly to by can only the contact realized of mechanical arm assemble it is automatic
Test method.
Background technology
In industrial automation production, the technique that frequently involves automatic assembling, such as will be mutually clamped between two components
One component is inserted and fixed to another component etc. by installation.After this kind of automatic assembling is completed, according to technological requirement, mutually
Certain mutual alignment relation requirement should be met between multiple components of assembling, and certain reaction force can be born.
In the prior art, the detection mode of multiple workpiece for completing automatic assembling generally requires special tooling,
By special detection device simulation actual environment specific workpiece is detected, tooling is designed in early period, installation and debugging
Professional is required for participate in the process, is also required to manually participate in mounting tool, operation detection device etc. during detection
Work, therefore, detection process of the prior art have need special tooling, artificial degree of participation are high, efficiency is low, it is intelligent from
The shortcomings such as dynamicization degree is low.
Invention content
The purpose of the present invention is to provide contacts to assemble automatic test approach, it is intended in the prior art for multiple workpiece
Between the test assembled cross and need special tooling, artificial participation high, the problems such as efficiency is low, intelligent automaticization degree is low.
The invention is realized in this way contact assembles automatic test approach, for detecting the first component and second automatically
The assembling situation of component, the second component are installed on the first component upper end, provide intelligent machine arm, the intelligent machine
Arm includes actuating station, and the contact assembling automatic test approach includes the following steps：
The fixed first component identifies the position of the second component；
The actuating station is moved at the upper side of the second component and is moved down towards the second component, detects
Active force from the second component, by the way that whether second component is installed to described in the position judgment of the actuating station at this time
Position.
Compared with prior art, the contact assembling automatic test approach in the present invention, by intelligent machine arm, driving is held
Second component is touched at row end, according to the feedback after touching with reference to the coordinate of actuating station, intelligent decision second component and the first component
Whether assemble up to standard, special tooling need not be designed before test process and is installed, when test participates in without artificial, has automated
Into detection, have many advantages, such as that use cost is low, automation and intelligentification degree is high, testing efficiency is high.
Description of the drawings
Fig. 1 to Fig. 4 assembles the step schematic diagram of automatic test approach for contact provided in an embodiment of the present invention；
Fig. 5 is the side structure schematic view of Auto-Test System provided in an embodiment of the present invention；
Fig. 6 is the overlooking the structure diagram of Auto-Test System provided in an embodiment of the present invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In the description of the present invention, it is to be understood that term " length ", " width ", " on ", " under ", "front", "rear",
The orientation or position relationship of the instructions such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " is based on attached drawing institutes
The orientation or position relationship shown is for only for ease of the description present invention and simplifies description rather than instruction or imply signified dress
It puts or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limit of the invention
System.
In the description of the present invention, " multiple " are meant that two or more, unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be that machinery connects
It connects or is electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
The realization of the present embodiment is described in detail below in conjunction with specific attached drawing.In order to which principle narration is succinct, at this
Detection after assembling the first component 22 and second component 21 in embodiment simplifies, as shown in Figure 5 and Figure 6, in being described below,
Using plane X, Y coordinate as reference, second component 21 is reduced to cuboid, in the case where assembling is up to standard, two sides adjacent
The place plane respective coordinates of wall are X1 and Y1, and the lower end coordinate of actuating station 11 is reduced to a in different reference axis.
Embodiment one
As shown in Figures 1 to 6, contact assembling automatic test approach is provided in this implementation, for detecting first automatically
The assembling situation of part 22 and second component 21, wherein second component 21 are installed on 22 upper end of the first component.Due in fact, multiple
Assembly relation between component is often complex, detects the assembling of multiple components in the present embodiment, is reduced to two components
Between assembling detection, according to the test method in the present embodiment, be used for multiple times can multipair multiple components be detected.
It is detected in the present embodiment by intelligent machine arm, intelligent machine arm includes that power output and mobile seat can be controlled
Target actuating station 11, contact assembling automatic test approach specifically include following steps：
S10. the first component 22 is fixed, identifies the position of second component 21；
S20. actuating station 11 is moved to 21 side of second component and is moved to 21 direction of second component, when detecting from the
During the active force of two components 21, whether be installed in place by the position judgment second component 21 of actuating station 11 at this time namely whether
It is assembled with the first component 22 up to standard.
Since intelligent machine arm has intelligent, automation control loop, actuating station 11 can be driven according to demand
The action specified is completed, such as：It is moved between two designated positions with command speed, output is specified since specified coordinate
Power etc., and its control loop detects position and the stressing conditions of actuating station 11 in real time, it, can be with actuating station in automatic test
Feedback suffered by 11 is as the foundation for judging the assembling situation of second component 21.
Specifically, in step S20, when actuating station 11 detects the active force from second component 21, illustrate to perform
End 11 has touched the side wall of second component 21, and the coordinate a of actuating station 11 is that is, the side wall of second component 21 at this time
With the coordinate of 11 contact point of actuating station (hereinafter referred to as contact point), if second component 21 is not assembled to the first component 22 completely,
Therebetween there are gaps, then the position of contact point certainly exists exception namely coordinate a is not be overlapped with X1 or Y1, you can
Judge that the assembling between second component 21 and the first component 22 is below standard.
It can be seen that according to above-mentioned detection process by intelligent machine arm in the present embodiment, to the first component 22 and
The contact of two components 21 carries out position sensing, would know that assembling situation according to position, before detection, it is only necessary to input the first component
22nd, the information such as 21 size of second component, correct rigging position coordinate, open intelligent machine arm according to above-mentioned detection process into
Row, you can be automatically performed detection, need not manually be participated in detection process, not only without specially design tooling, testing cost is low, suitable
It is strong with property, but also have many advantages, such as that detection efficiency is high, intelligence degree is high.
Preferably, in step slo, the position of identification second component 21 specifically includes：By visual identity, second is judged
21 position of component by structures such as cameras, can acquire and judge the position of second component 21.Preferably, implement at other
, can be with the size of the automatic collection first component 22 and second component 21 during identification in example, resume X, Y coordinate system,
Both calculate the corresponding coordinate of plane where each end face of second component 21 after correct assembling, i.e., demarcated in system automatically X1 and
Y1 coordinates can save the artificial process for being previously entered the information such as position coordinates, into one as the basis for estimation in subsequent step
Step improves intelligence degree.
Preferably, it in step S20, detects the active force from second component 21, passes through the position of actuating station 11 at this time
It puts and judges whether second component 21 is installed in place and specifically include：
S21. the 11 coordinate a1 of actuating station when detecting active force is recorded, by coordinate a1 with default middle second component 21 just
True position compares, i.e., coordinate a1 is compared with X1 or Y1：
If coordinate a1 is different from correct position, it is up to standard to judge that second component 21 assembles；
If coordinate a1 is identical with correct position, it is not up to standard to judge that second component 21 assembles.
That is, coordinate comparison by way of, using the position of contact point for assemble whether basis for estimation up to standard.In order to make
It compares with more operability, certain zone of reasonableness can be set, the two difference in the reasonable scope, is judged as up to standard, exceeds
Outside zone of reasonableness, it is judged as not up to standard.
Since the second component 21 in the present embodiment is cuboid, even if a side wall, which is installed in place, can not prove it
It is whole to be assembled to correct position, therefore repeatedly be tested, it avoids judging by accident.
Preferably as shown in Fig. 2, in judging that second component 21 is installed in place, also specifically include：
S22. after actuating station 11 rises shift position, the another of second component 21 is dropped to again after detection in place for the first time
Side carries out second and detects, after the pressure of actuating station 11 detects active force, record 11 coordinate a2 of actuating station at this time, by a2 with
The correct position of second component 21 compares in default,.That is, second contact point of selection, repeats detecting step.
And so on after n times, it is up to standard at coordinate a1, coordinate a2 ... coordinates aN namely selected it is N number of point detection, really
These fixed points are in zone of reasonableness with the difference of X1 or Y1, you can judge that second component 21 is installed in place, with the first component 22
Between assemble it is up to standard.Wherein N is the natural number more than or equal to 2, in specific implementation, can be selected according to the shape of second component 21
Various numbers are selected, should be at least in the present embodiment 4 times, are at least tested respectively twice, in others in adjacent two side walls
May be the numbers such as 6,9 in embodiment, the point of acquisition is more, and the probability for occurring judging by accident is lower.
Situations below is also possible that in assembling：In assembling process, the correlation of second component 21 or the first component 22
Position is damaged, although the two is identical in the case of correct assembling from position, the mechanical property being capable of providing is difficult
Matching requirements are produced to meet, such case should also be as being determined as that assembling is not up to standard, it is preferred, therefore, that, judge in step S20
It is further comprising the steps of after second component is installed in place：
S30. shown actuating station 11 continues pressure to preset pressure F, judges second component 21 and the first component according to feedback
22 assembling situation.
Wherein, preset pressure F is the limiting pressure that the second component 21 correctly assembled can be born, at this pressure, the
If two components 21 are not subjected to displacement, it can be determined that it is capable of providing the mechanical property for meeting matching requirements.According to pressure from small
To big until during preset pressure F, second component 21 is for the feedback of actuating station 11, you can judges assembling situation.
Preferably, in step s 30, judge that second component 21 and the assembling situation of the first component 22 are specifically wrapped according to feedback
It includes：
S31. gradually increase pressure is until specified pressure F for actuating station 11, if the changes in coordinates of actuating station 11 is not detected,
It is up to standard then to judge that second component 21 is assembled with the first component 22；
When gradually specified pressure F has not yet been reached in increase pressure to actuating station 11, if detecting that 11 coordinate of actuating station occurs
Variation, illustrates that second component 21 can not provide the mechanical property for meeting matching requirements, then judges second component 21 and the first component
22 assemblings are below standard.
With hereinbefore step S20 similarly, in step s 30, it is also possible to there is part and meet assembling correctly, and other portions
The below standard situation in position, the maloperation occurred in order to avoid single detection, it is preferred that as shown in figure 4, step S30 is also using more
The mode of secondary detection, specifically includes：
S32. first side wall of second component 21 is chosen, the driving pressure test of actuating station 11 judges assembling according to feedback
Situation；
The second side wall of second component 21 is chosen, the driving pressure test of actuating station 11 judges assembling situation according to feedback；
……
The n-th side wall of second component 21 is chosen, the driving pressure test of actuating station 11 judges assembling situation according to feedback；
Termination detection and judge that second component 21 assembles not when arbitrary target points detect that feedback does not meet matching requirements
It is up to standard；If all up to standard after having detected n times, then judge that second component 21 and the assembling of the first component 22 are up to standard.Detection time
Number, contact point selection are similar to step S20, do not repeat.
The present embodiment additionally provides automatic checkout system, for detecting the assembling of the first component 22 and second component 21 automatically
Situation, second component 21 are installed on 22 upper end of the first component, including：
Workbench 12, for fixing the first component 22；
Image capture device, for acquiring the location information of second component 21
Intelligent machine arm, including actuating station 11, actuating station 11 is moved to 21 side of second component and is applied to second component 21
Pressure by detecting the coordinate of active force and actuating station 11 from second component 21, judges assembling situation.
When detecting, the first component 22 is fixed on table 12, by image capture device identification second component 21
Position, then intelligent machine arm driving actuating station 11 move and contact the side wall of second component 21, according to feedback judge assembling feelings
Condition.The work step principle of entire automatic checkout system, it is identical with previously described contact assembling automatic test approach, it does not do
It repeats.
Preferably, in the present embodiment, the end of actuating station 11 is equipped with pressure sensor 111, can detect its by
Pressure.It in other examples, can also the position detection to actuating station 11, power output be bent in itself according to intelligent machine arm
Line detects, and judges whether by active force.
Embodiment two：
Another contact assembling automatic test approach is provided in the present embodiment, it is whole similar to embodiment one,
Different from step s 30, specially：
In step s 30, judge that second component 21 and the assembling situation of the first component 22 specifically include according to feedback：
S31a. actuating station 11 gradually increase pressure until specified pressure F, detect active force that actuating station 11 is subject to
Its own Simultaneous Pressure applied variation, then it is up to standard to judge that second component 21 is assembled with the first component 22；
When specified pressure F has not yet been reached in the gradual increase pressure of actuating station 11, the active force hair that actuating station 11 is subject to is detected
Raw mutation, its own pressure applied appearance is asynchronous, then it is below standard to judge that second component 21 is assembled with the first component 22.
In other words, in the present embodiment, the active force change that actuating station 11 is subject to is turned to basis for estimation.According to Newton force
Law is learned it is found that in static system, reaction force is always equal to active force, therefore, if second component 21 disclosure satisfy that
The mechanical property requirements of assembling, during by reaction force F, stable structure itself, the active force that actuating station 11 detects with it is anti-
Active force numerical value is identical.
But if second component 21 can not meet the mechanical property requirements of assembling, the reaction force arrival being subject to is small
When some value of reaction force F, itself is subjected to displacement, and the active force that actuating station 11 detects at this time is not same with reaction force
Step, but detect that active force mutates, you can illustrate that second component 21 and the assembling of the first component 22 are below standard.
The unmentioned content of other in the present embodiment can refer to embodiment one and be understood.
The foregoing is merely a prefered embodiment of the invention, is not intended to limit the invention, it is all the present invention spirit and
All any modification, equivalent and improvement made within principle etc., should all be included in the protection scope of the present invention.
Claims (10)
- Whether 1. contact assembles automatic test approach, qualified for detecting the first component and second component assembling automatically, described Second component is installed on the first component upper end, which is characterized in that provides intelligent machine arm, the intelligent machine arm includes holding Row end, the contact assembling automatic test approach include the following steps：The fixed first component identifies the position of the second component；The actuating station is moved to the second component side and is moved towards the second component, detects from described second The active force of component, by the way that whether second component is installed in place described in the position judgment of the actuating station at this time.
- 2. contact as described in claim 1 assembles automatic test approach, which is characterized in that detects from described second The active force of part is specifically included by the way that whether second component described in the position judgment of the actuating station at this time is installed in place：Actuating station coordinate a1 when record detects active force, by the coordinate a1 with it is default described in second component just True position compares, and the coordinate a1 is different from the correct position, judges that the second component is not mounted to position, if the seat It is identical with the correct position to mark a1, judges that the second component is installed in place.
- 3. contact as claimed in claim 2 assembles automatic test approach, which is characterized in that if the coordinate a1 with it is described Correct position is identical, judges that the second component is installed in place and specifically includes：For the first time after detection in place, after the actuating station rises shift position, drop to again the second component opposite side into Row second detects, after the actuating station decline detects active force, record actuating station coordinate a2 at this time, by the coordinate a2 with The correct position compares；And so on after n times, the coordinate a1, the coordinate a2 ... the coordinate aN meet with the correct position, sentence The second component that breaks is installed in place.
- 4. contact as described in claim 1 assembles automatic test approach, which is characterized in that judges the second component installation It is further comprising the steps of after in place：Shown actuating station continues gradually to increase pressure to preset pressure F to the second component, judges described second according to feedback The assembling situation of component and the first component.
- 5. contact as claimed in claim 4 assembles automatic test approach, which is characterized in that judges described second according to feedback The assembling situation of component and the first component specifically includes：The actuating station gradually increases pressure until the specified pressure F, is not detected the changes in coordinates of the actuating station, then sentences The second component that breaks assembles up to standard with the first component；When the actuating station gradually increases pressure the specified pressure F has not yet been reached, detect that the actuating station coordinate becomes Change, then it is below standard to judge that the second component is assembled with the first component.
- 6. contact as claimed in claim 4 assembles automatic test approach, which is characterized in that judges described second according to feedback The assembling situation of component and the first component specifically includes：The actuating station gradually increases pressure until the specified pressure F, detect active force that the actuating station is subject to It is up to standard then to judge that the second component is assembled with the first component for its own Simultaneous Pressure applied variation；When the actuating station gradually increases pressure the specified pressure F has not yet been reached, the effect that the actuating station is subject to is detected Power mutates, its own pressure applied appearance is asynchronous, then judges the second component with first component assembling not It is up to standard.
- 7. contact as described in claim 1 assembles automatic test approach, which is characterized in that the actuating station continues to described Second component presses to specified pressure F, judges that the assembling situation of the second component and the first component is specific according to feedback Including：First side wall of the second component is chosen, the actuating station pressure test is driven, assembling situation is judged according to feedback；The second side wall of the second component is chosen, the actuating station pressure test is driven, assembling situation is judged according to feedback；……The n-th side wall of the second component is chosen, the actuating station pressure test is driven, assembling situation is judged according to feedback；Termination detection and judge that second component assembling does not reach when arbitrary target points detect that feedback does not meet matching requirements Mark.
- 8. contact as described in claim 1 assembles automatic test approach, which is characterized in that identifies the position of the second component It puts and specifically includes：By visual identity, the second component position is judged.
- 9. automatic checkout system, for detecting the assembling situation of the first component and second component, the second component installation automatically In the first component upper end, which is characterized in that including：Workbench, for fixing the first component；Image capture device, for acquiring the location information of the second componentIntelligent machine arm, including actuating station, the actuating station is moved to the second component side and is applied to the second component Pressure by detecting the coordinate of active force and the actuating station from the second component, judges assembling situation.
- 10. automatic checkout system as claimed in claim 9, which is characterized in that the actuating station end is equipped with pressure sensing Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711483183.7A CN108267084A (en) | 2017-12-29 | 2017-12-29 | Contact assembles automatic test approach and automatic checkout system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711483183.7A CN108267084A (en) | 2017-12-29 | 2017-12-29 | Contact assembles automatic test approach and automatic checkout system |
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| CN201711483183.7A Pending CN108267084A (en) | 2017-12-29 | 2017-12-29 | Contact assembles automatic test approach and automatic checkout system |
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| CN103169207A (en) * | 2012-06-29 | 2013-06-26 | 福建浔兴拉链科技股份有限公司 | Block feeding method, block feeding mechanism and block assembling machine |
| CN206803983U (en) * | 2017-04-07 | 2017-12-26 | 大连豪森设备制造有限公司 | Robot point inspection mistake proofing probe |
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- 2017-12-29 CN CN201711483183.7A patent/CN108267084A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1951625A (en) * | 2005-10-18 | 2007-04-25 | 本田技研工业株式会社 | Method and apparatus of integrating work |
| JP2010214512A (en) * | 2009-03-16 | 2010-09-30 | Ihi Corp | Assembling device |
| CN102000970A (en) * | 2010-09-10 | 2011-04-06 | 中国科学院合肥物质科学研究院 | Bolt assembly and disassembly manipulator capable of moving with three degrees of freedom |
| CN103169207A (en) * | 2012-06-29 | 2013-06-26 | 福建浔兴拉链科技股份有限公司 | Block feeding method, block feeding mechanism and block assembling machine |
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Application publication date: 20180710 |