CN109227104A - A kind of stubborn bolt method of moment of torsion control - Google Patents
A kind of stubborn bolt method of moment of torsion control Download PDFInfo
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- CN109227104A CN109227104A CN201811079296.5A CN201811079296A CN109227104A CN 109227104 A CN109227104 A CN 109227104A CN 201811079296 A CN201811079296 A CN 201811079296A CN 109227104 A CN109227104 A CN 109227104A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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Abstract
The invention discloses a kind of moment of torsion control to twist bolt method, belong to industry assembling technical field, including rectangular co-ordinate bolt machine, scaling board and connected control system, include the following steps: according to the fixed workpiece of scaling board, number in group is carried out to each grouping, screw thread grouping includes drawing identification grouping, teaching identification grouping, visual identity grouping or bolt head grouping and carries out number in group to each grouping；Control system carries out whole path planning to all groups of other screw threads or bolt head；Manually bolt is screwed in advance in the threaded hole on workpiece；Rectangular co-ordinate bolt machine returns to zero；Sleeve is selected, bolt successively is twisted according to chi sequence to screw thread grouping or bolt head grouping.The present invention is grouped number and is planned by control system and twist bolt path by drawing identification grouping, teaching identification grouping, visual identity grouping and bolt head grouping to screw thread or bolt head, to achieve the purpose that quickly to twist bolt.
Description
Technical field
The present invention relates to a kind of stubborn bolt methods, twist bolt method more particularly to a kind of moment of torsion control, belong to industrial dress
With technical field.
Background technique
There are two types of methods for the pretightning force of control bolt: pulling force control methods and moment of torsion control method, pulling force control methods are using liquid
Press stretcher that bolt tension is easily tightened nut to certain length again, bolt occurs flexible deformation and generates preload at this time
Power, and moment of torsion control method is pulled using tightening machine, Electric torque wrench, aerodynamic moment spanner, hydraulic torque wrench, manual torque
Hand controls the pretightning force of bolt.
But artificial torsion is used on industrial flow-line, speed is slow, wastes time, and working efficiency is low, thus needs
The method of a set of automatic stubborn bolt, is capable of the position of automatic identification threaded hole and bolt head, to control the sequence of stubborn bolt, improves
Working efficiency.
Summary of the invention
The main object of the present invention is to provide for a kind of stubborn bolt method of moment of torsion control, by drawing identification grouping, shows
Teaching not Fen Zu, visual identity grouping and bolt head grouping to screw thread or bolt head be grouped number and by control system
System, which is planned, twists bolt path, to achieve the purpose that quickly to twist bolt.
The purpose of the present invention can reach by using following technical solution:
A kind of moment of torsion control twists bolt method, including rectangular co-ordinate bolt machine, scaling board and with rectangular co-ordinate bolt machine
Connected control system, rectangular co-ordinate bolt machine be equipped with three-shaft linkage, three-shaft linkage include X-axis, the Y-axis being arranged in X-axis,
Z axis in Y-axis and the C axis in Z axis one end are set, included the following steps:
Step 1: according to the fixed workpiece of scaling board；
Step 2: to the specification of screw thread, the quantity of the position coordinates of screw thread, screw thread on all workpiece, carry out screw thread grouping and
Group number, and number in group is carried out to each grouping, screw thread grouping includes that drawing identification grouping, teaching identification grouping and vision are known
It is not grouped；
Or, carrying out bolt head grouping, group number to the bolt head on all workpiece, and each grouping compile in group
Number；
Step 3: control system carries out whole path planning to all groups of other screw threads or bolt head；
Step 4: being manually screwed in bolt in advance in the threaded hole on workpiece；
Step 5: rectangular co-ordinate bolt machine returns to zero；
Step 6: selection sleeve successively according to chi sequence twists bolt to screw thread grouping or bolt head grouping, using pair
Bolt is twisted at angle, is twisted in two times: first pass distance controlling twists bolt, and second time moment of torsion control twists bolt.
Preferably, teaching identification is grouped into rectangular co-ordinate bolt machine of manual operation, is then recorded by control system
Motion profile, first according to sequence manually teaching in group, according still further to the manually teaching of group sequence.
Preferably, the vision system that rectangular co-ordinate bolt machine is equipped with industrial camera and is connected with industrial camera, work
Industry camera takes pictures to the workpiece within the scope of scaling board, generates image, and visual identity is grouped into vision system and is known according to image
Not Chu the screw thread of several specification be grouped and number.
Preferably, rectangular co-ordinate bolt machine is equipped with industrial camera, the vision system being connected with industrial camera, upper system
Workpiece drawing in system and importing Upper system, drawing are equipped with parts profile and index point, and Upper system identifies on drawing
All screw threads, vision system takes pictures to scaling board, finds workpiece profile and index point, workpiece profile is for determining workpiece
Deviation angle, for index point for determining component shift position, Upper system calculates workpiece coordinate system and drawing by matrix operation
The relationship of coordinate system, forms corresponding relationship, and visual identity is grouped into Upper system and the screw thread on drawing is grouped and is numbered.
Preferably, the vision system that rectangular co-ordinate bolt machine is equipped with industrial camera and is connected with industrial camera, depending on
Feel system takes pictures to workpiece by industrial camera, identification bolt head, bolt head center and bolt head angle, then to identification
Bolt head out carries out bolt head grouping and number.
Preferably, screw thread or bolt head are divided by several groupings according to screw thread grouping or bolt head grouping, and right
Screw thread or bolt head in each grouping are numbered, and all numbers are all different.
Preferably, path planning includes:
Control system carries out path planning according to thread size sequence or bolt head size order first, to all groupings
Bolt is twisted according to size order；
All screw threads or bolt head of each packets inner are numbered next control system and whole path
Planning, is numbered in sequence are as follows:
1st group: 1-1,1-2,1-3,1-4,1-5,1-6；
2nd group: 2-1,2-2,2-3,2-4；
3rd group: 3-1,3-2,3-3,3-4；
Path planning is carried out according to interleaved mode are as follows:
1st group, bolt is twisted according to the sequence of 1-1,1-4,1-3,1-6,1-2,1-5；
2nd group, bolt is twisted according to the sequence of 2-1,2-3,2-4,2-2；
3rd group, bolt is twisted according to the sequence of 3-1,3-3,3-4,3-2.
Preferably, it is as follows to twist the step of bolt for distance controlling:
Three-shaft linkage navigates to right above bolt first, and Z axis passes through safe altitude, has been then lowered into and has twisted height, spiral
Interpolation, which declines, twists bolt, and the interpolation of spiral decline is equal to the helix of bolt, enables under XY axis servo, knows positioning when vision and does not deposit
In error, hexagonal bolt head is effectively ensured and slides into sleeve, during twisting bolt, effectively evacuation is because positioning is not allowed to lead to XY
Axis stress；When reaching distance controlling triggering height, enabled under rotary shaft C axis, the sleeve and bolt head that relaxation fits closely make to cover
Cylinder smoothly rises to safe altitude, has twisted the bolt in each grouping according to interleaved mode sequence.
Preferably, moment of torsion control twists bolt, includes the following steps:
Twisted after bolt twisted the bolt of each grouping using distance controlling, first three-shaft linkage navigate to bolt just on
Side, Z axis pass through safe altitude, and C axis is directly rotated to angle when distance controlling triggering, when being then lowered into distance controlling triggering
Height, make sleeve that can accurately pack into bolt head；Spiral interpolation, which declines, twists bolt, and the interpolation of spiral decline is equal to the spiral of bolt
Line；It is enabled under XY axis servo, during twisting bolt, effectively evacuation is because positioning is not allowed to lead to XY axis stress；Setting is reached to turn round
It when square, is enabled under rotary shaft C axis, the sleeve and bolt head that relaxation fits closely rise sleeve smoothly, increase Z axis
To safe altitude, the bolt in each grouping has been twisted according to interleaved mode sequence.
Preferably, the manipulator for twisting bolt is SCARA type, right angle coordinate manipulator type or six axis joint manipulators
Manipulators more than three axis of type；Bolt is hexagon socket head cap screw head, hexagon-headed bolt head, cross recess or slotted bolt
Head, each bolt head have match sleeve or spanner, may be mounted at arm end and go to execute.
Advantageous effects of the invention:
Moment of torsion control provided by the invention twists bolt method, the method including four kinds of the turn of the screws: drawing identification grouping, teaching
Identification grouping, visual identity grouping and bolt head grouping, can fast and accurately find screw thread and bolt location, and using away from
It, being capable of firm the turn of the screw from control and moment of torsion control the turn of the screw.
Moment of torsion control provided by the invention twists bolt method, and rectangular co-ordinate bolt machine is using servo and control servo motor
During using lower enabled, during the turn of the screw, can effectively avoid because positioning, which is not allowed, leads to XY axis stress, reach away from
It when triggering height from control, enables under rotary shaft C axis, can relax the sleeve and bolt head fitted closely, guarantee that sleeve can be with
Smoothly rise, rise to safe altitude, by lower enabled, the turn of the screw for solving puzzlement industry assembling field for a long time is difficult
Topic.
Detailed description of the invention
Fig. 1 is the flow diagram for the preferred embodiment that moment of torsion control according to the invention twists bolt method；
Fig. 2 is the overall structure diagram for the preferred embodiment that moment of torsion control according to the invention twists bolt method；
Fig. 3 is the stubborn bolt high-level schematic for the preferred embodiment that moment of torsion control according to the invention twists bolt method；
Fig. 4 is the screw thread packet numbering signal for the preferred embodiment that moment of torsion control according to the invention twists bolt method
Figure；
Fig. 5 is the workpiece profile schematic diagram for the preferred embodiment that moment of torsion control according to the invention twists bolt method；
Fig. 6 is that the industrial profile after the offset for the preferred embodiment that moment of torsion control according to the invention twists bolt method shows
It is intended to；
Fig. 7 is the image recognition process signal for the preferred embodiment that moment of torsion control according to the invention twists bolt method
Figure；
Fig. 8 is the visual identity process signal for the preferred embodiment that moment of torsion control according to the invention twists bolt method
Figure；
Fig. 9 is the teaching identification process signal for the preferred embodiment that moment of torsion control according to the invention twists bolt method
Figure；
Figure 10 is that the bolt head identification process for the preferred embodiment that moment of torsion control according to the invention twists bolt method shows
It is intended to；
In figure: 4- rectangular co-ordinate bolt machine, 41-X axis, 42-Y axis, 43-Z axis, 44-C axis, 45- industrial camera, 46- set
Cylinder, 47- scaling board, 48- workpiece, the 1st group of 49-, the 2nd group of 50-, the 3rd group of 51-.
Specific embodiment
To make the more clear and clear technical solution of the present invention of those skilled in the art, below with reference to examples and drawings
The present invention is described in further detail, and embodiments of the present invention are not limited thereto.
Embodiment 1:
As shown in Fig. 1-Fig. 7, moment of torsion control provided in this embodiment twists bolt method, including rectangular co-ordinate bolt machine 4, mark
Fixed board 47 and the control system being connected with rectangular co-ordinate bolt machine 4, rectangular co-ordinate bolt machine 4 are equipped with three-shaft linkage, three axis
Linkage includes X-axis 41, the Y-axis 42 being arranged in X-axis 41, the Z axis 43 being arranged in Y-axis 42 and the C axis in 43 one end of Z axis
44, include the following steps:
Step 1: according to the fixed workpiece 48 of scaling board 47, as shown in Figure 5 and Figure 6, workpiece any angle and position are fixed on
On scaling board；
Step 2: the vision system, upper that rectangular co-ordinate bolt machine 4 is equipped with industrial camera 45, is connected with industrial camera 45
System and import Upper system in 48 drawing of workpiece, to upper system introducing workpiece drawing, have on drawing parts profile and
Index point, Upper system can identify all screw threads on drawing, Upper system by matrix operation, calculate workpiece coordinate system and
The relationship of drawing coordinate system, formed corresponding relationship, to institute threaded specification, the quantity of the position coordinates of screw thread, screw thread, progress
Screw thread grouping and group number, and number in group, i.e. drawing identification grouping are carried out to each grouping；
Step 3: control system carries out whole path planning to all groups of other screw threads；
Step 4: being manually screwed in bolt in advance in the threaded hole on workpiece 48；
Step 5: rectangular co-ordinate bolt machine 4 returns to zero；
Step 6: selection sleeve 46 is successively twisted bolt according to chi sequence to screw thread grouping or bolt head grouping, is used
Diagonally stubborn bolt, is twisted in two times: first pass distance controlling twists bolt, and second time moment of torsion control twists bolt；
In the present embodiment, as shown in Fig. 1-Fig. 7, screw thread is divided into the 1st group 49, the 2nd group 50 according to drawing identification grouping
With the 3rd group 51, organize in grouping are as follows:
1st group: 6 M12,1-1,1-2,1-3,1-4,1-5,1-6；
2nd group: 4 M8,2-1,2-2,2-3,2-4；
3rd group: 4 M6,3-1,3-2,3-3,3-4.
In the present embodiment, as shown in Fig. 1-Fig. 7, path planning includes:
Control system carries out path planning according to thread size sequence or bolt head size order first, to the 1st group 49,
Bolt is twisted in sequence for 2nd group 50 and the 3rd groups 51；
Secondly control system to inside each group all screw threads or bolt head carry out whole path planning, according to
Interleaved mode carries out path planning:
1st group 49, bolt is twisted according to the sequence of 1-1,1-4,1-3,1-6,1-2,1-5；
2nd group 50, bolt is twisted according to the sequence of 2-1,2-3,2-4,2-2；
3rd group 51, bolt is twisted according to the sequence of 3-1,3-3,3-4,3-2.
In the present embodiment, as shown in Fig. 1-Fig. 7, distance controlling twist bolt the step of it is as follows:
Three-shaft linkage navigates to right above 1-1 bolt first, and Z axis 43 passes through safe altitude, has been then lowered into and has twisted height,
Spiral interpolation declines stubborn bolt, and the interpolation of spiral decline is equal to the helix of bolt, enables under 42 servo of XY axis, know when vision and determine
When position does not have error, hexagonal bolt head is effectively ensured and slides into sleeve 46, during twisting bolt, effectively avoids because of positioning not
Standard leads to 42 stress of XY axis；When reaching distance controlling triggering height, lower enabled, the sleeve that relaxation fits closely of rotary shaft C axis 44
46 and bolt head, so that sleeve 46 is smoothly risen to safe altitude；
It goes three-shaft linkage to navigate to right above 1-4 bolt again, twists bolt according to distance controlling；
It goes three-shaft linkage to navigate to right above 1-3 bolt again, twists bolt according to distance controlling；
It goes three-shaft linkage to navigate to right above 1-6 bolt again, twists bolt according to distance controlling；
It goes three-shaft linkage to navigate to right above 1-2 bolt again, twists bolt according to distance controlling；
Last three-shaft linkage navigates to right above 1-5 bolt, twists bolt according to distance controlling.
In the present embodiment, as shown in Fig. 1-Fig. 7, bolt is twisted using distance controlling, after one group of 6 bolt has been twisted, is pressed
Bolt is twisted according to chi sequence moment of torsion control, is included the following steps:
Three-shaft linkage navigates to right above bolt, and Z axis 43 passes through safe altitude, and C axis 44 is directly rotated to distance controlling touching
Angle when hair is then lowered into height when distance controlling triggering, makes sleeve 46 that can accurately pack into bolt head；Under spiral interpolation
It drops and twists bolt, the interpolation of spiral decline is equal to the helix of bolt；It is enabled under 42 servo of XY axis, during twisting bolt, effectively
Evacuation is because positioning is not allowed to lead to 42 stress of XY axis；When reaching setting torque, rotary shaft C axis 44 is lower enabled, and relaxation fits closely
Sleeve 46 and bolt head, smoothly increase sleeve 46, Z axis 43 made to rise to safe altitude；
In the present embodiment, as shown in Fig. 1-Fig. 7, the manipulator for twisting bolt is SCARA type, right angle coordinate manipulator class
Manipulators more than three axis of type or six axis joint Robot Types；Bolt is hexagon socket head cap screw head, hexagon-headed bolt head, cross
Perhaps each bolt head of slotted bolt head has match sleeve 46 or spanner to slot, may be mounted at arm end
It goes to execute.
Embodiment 2:
As shown in Fig. 1-Fig. 4 and Fig. 8, moment of torsion control provided in this embodiment twists bolt method, including rectangular co-ordinate bolt
Machine 4, scaling board 47 and the control system being connected with rectangular co-ordinate bolt machine 4, rectangular co-ordinate bolt machine 4 join equipped with three axis
Dynamic, three-shaft linkage includes X-axis 41, the Y-axis being arranged in X-axis 41 42, the Z axis 43 being arranged in Y-axis 42 and in 43 one end of Z axis
C axis 44, include the following steps:
Step 1: according to the fixed workpiece 48 of scaling board 47；
Step 2: the vision system that rectangular co-ordinate bolt machine 4 is equipped with industrial camera 45 and is connected with industrial camera 45,
Industrial camera 45 takes pictures to the workpiece 48 in 47 range of scaling board, generates image, and visual identity is grouped into vision system root
It is identified according to image to the specification of screw thread, the quantity of the position coordinates of screw thread, screw thread on all workpiece 48, carries out screw thread grouping
And group number, and number in group is carried out to each grouping；
Step 3: control system carries out whole path planning to all groups of other screw threads or bolt head；
Step 4: being manually screwed in bolt in advance in the threaded hole on workpiece 48；
Step 5: rectangular co-ordinate bolt machine 4 returns to zero；
Step 6: selection sleeve 46 is successively twisted bolt according to chi sequence to screw thread grouping or bolt head grouping, is used
Diagonally stubborn bolt, is twisted in two times: first pass distance controlling twists bolt, and second time moment of torsion control twists bolt；
In the present embodiment, it as shown in Fig. 1-Fig. 4 and Fig. 8, is grouped according to visual identity and screw thread is divided into the 1st group, the 2nd group
With the 3rd group, organize in grouping are as follows:
1st group: 6 M12,1-1,1-2,1-3,1-4,1-5,1-6；
2nd group: 4 M8,2-1,2-2,2-3,2-4；
3rd group: 4 M6,3-1,3-2,3-3,3-4.
In the present embodiment, as shown in Fig. 1-Fig. 4 and Fig. 8, path planning includes:
Control system carries out path planning according to thread size sequence or bolt head size order first, to the 1st group, the
2 groups and the 3rd group are twisted bolt in sequence；
Secondly control system to inside each group all screw threads or bolt head carry out whole path planning, according to
Interleaved mode carries out path planning:
1st group, bolt is twisted according to the sequence of 1-1,1-4,1-3,1-6,1-2,1-5；
2nd group, bolt is twisted according to the sequence of 2-1,2-3,2-4,2-2；
3rd group, bolt is twisted according to the sequence of 3-1,3-3,3-4,3-2.
In the present embodiment, as shown in Fig. 1-Fig. 4 and Fig. 8, distance controlling twist bolt the step of it is as follows:
Three-shaft linkage navigates to right above 1-1 bolt first, and Z axis 43 passes through safe altitude, has been then lowered into and has twisted height,
Spiral interpolation declines stubborn bolt, and the interpolation of spiral decline is equal to the helix of bolt, enables under 42 servo of XY axis, know when vision and determine
When position does not have error, hexagonal bolt head is effectively ensured and slides into sleeve 46, during twisting bolt, effectively avoids because of positioning not
Standard leads to 42 stress of XY axis；When reaching distance controlling triggering height, lower enabled, the sleeve that relaxation fits closely of rotary shaft C axis 44
46 and bolt head, so that sleeve 46 is smoothly risen to safe altitude；
It goes three-shaft linkage to navigate to right above 1-4 bolt again, twists bolt according to distance controlling；
It goes three-shaft linkage to navigate to right above 1-3 bolt again, twists bolt according to distance controlling；
It goes three-shaft linkage to navigate to right above 1-6 bolt again, twists bolt according to distance controlling；
It goes three-shaft linkage to navigate to right above 1-2 bolt again, twists bolt according to distance controlling；
Last three-shaft linkage navigates to right above 1-5 bolt, twists bolt according to distance controlling.
In the present embodiment, as shown in Fig. 1-Fig. 4 and Fig. 8, bolt is twisted using distance controlling, one group of 6 bolt has been twisted
Afterwards, bolt is twisted according to chi sequence moment of torsion control, included the following steps:
Three-shaft linkage navigates to right above bolt, and Z axis 43 passes through safe altitude, and C axis 44 is directly rotated to distance controlling touching
Angle when hair is then lowered into height when distance controlling triggering, makes sleeve 46 that can accurately pack into bolt head；Under spiral interpolation
It drops and twists bolt, the interpolation of spiral decline is equal to the helix of bolt；It is enabled under 42 servo of XY axis, during twisting bolt, effectively
Evacuation is because positioning is not allowed to lead to 42 stress of XY axis；When reaching setting torque, rotary shaft C axis 44 is lower enabled, and relaxation fits closely
Sleeve 46 and bolt head, smoothly increase sleeve 46, Z axis 43 made to rise to safe altitude；
In the present embodiment, as shown in Fig. 1-Fig. 4 and Fig. 8, the manipulator for twisting bolt is SCARA type, rectangular co-ordinate machine
Manipulators more than three axis of tool hand type or six axis joint Robot Types；Bolt is hexagon socket head cap screw head, hexagon-headed bolt
Head, perhaps each bolt head of slotted bolt head has match sleeve 46 or spanner to cross recess, may be mounted at machinery
Hand end is gone to execute.
Embodiment 3:
As illustrated in figs. 1-4 and 9, moment of torsion control provided in this embodiment twists bolt method, including rectangular co-ordinate bolt
Machine 4, scaling board 47 and the control system being connected with rectangular co-ordinate bolt machine 4, rectangular co-ordinate bolt machine 4 join equipped with three axis
Dynamic, three-shaft linkage includes X-axis 41, the Y-axis being arranged in X-axis 41 42, the Z axis 43 being arranged in Y-axis 42 and in 43 one end of Z axis
C axis 44, include the following steps:
Step 1: according to the fixed workpiece 48 of scaling board 47；
Step 2: to the specification of screw thread, the quantity of the position coordinates of screw thread, screw thread on all workpiece 48, carrying out teaching identification
Grouping and group number；
Step 3: control system carries out whole path planning: rectangular co-ordinate spiral shell of manual operation to all groups of other screw threads
Then bolt machine records motion profile by control system, artificial according still further to group sequence first according to sequence manually teaching in group
Manual teaching；
Step 4: being manually screwed in bolt in advance in the threaded hole on workpiece 48；
Step 5: rectangular co-ordinate bolt machine 4 returns to zero；
Step 6: selection sleeve 46 is successively twisted bolt according to chi sequence to screw thread grouping or bolt head grouping, is used
Diagonally stubborn bolt, is twisted in two times: first pass distance controlling twists bolt, and second time moment of torsion control twists bolt；
In the present embodiment, as illustrated in figs. 1-4 and 9, it is grouped according to screw thread and screw thread is divided into the 1st group, the 2nd group and the
3 groups, organize interior grouping are as follows:
1st group: 6 M12,1-1,1-2,1-3,1-4,1-5,1-6；
2nd group: 4 M8,2-1,2-2,2-3,2-4；
3rd group: 4 M6,3-1,3-2,3-3,3-4.
In the present embodiment, as illustrated in figs. 1-4 and 9, path planning includes:
Control system carries out path planning according to thread size sequence or bolt head size order first, to the 1st group, the
2 groups and the 3rd group are twisted bolt in sequence；
Secondly control system to inside each group all screw threads or bolt head carry out whole path planning, according to
Interleaved mode carries out path planning:
1st group, bolt is twisted according to the sequence of 1-1,1-4,1-3,1-6,1-2,1-5；
2nd group, bolt is twisted according to the sequence of 2-1,2-3,2-4,2-2；
3rd group, bolt is twisted according to the sequence of 3-1,3-3,3-4,3-2.
In the present embodiment, as illustrated in figs. 1-4 and 9, it is as follows to twist the step of bolt for distance controlling:
Three-shaft linkage navigates to right above 1-1 bolt first, and Z axis 43 passes through safe altitude, has been then lowered into and has twisted height,
Spiral interpolation declines stubborn bolt, and the interpolation of spiral decline is equal to the helix of bolt, enables under 42 servo of XY axis, know when vision and determine
When position does not have error, hexagonal bolt head is effectively ensured and slides into sleeve 46, during twisting bolt, effectively avoids because of positioning not
Standard leads to 42 stress of XY axis；When reaching distance controlling triggering height, lower enabled, the sleeve that relaxation fits closely of rotary shaft C axis 44
46 and bolt head, so that sleeve 46 is smoothly risen to safe altitude；
It goes three-shaft linkage to navigate to right above 1-4 bolt again, twists bolt according to distance controlling；
It goes three-shaft linkage to navigate to right above 1-3 bolt again, twists bolt according to distance controlling；
It goes three-shaft linkage to navigate to right above 1-6 bolt again, twists bolt according to distance controlling；
It goes three-shaft linkage to navigate to right above 1-2 bolt again, twists bolt according to distance controlling；
Last three-shaft linkage navigates to right above 1-5 bolt, twists bolt according to distance controlling.
In the present embodiment, as illustrated in figs. 1-4 and 9, bolt is twisted using distance controlling, one group of 6 bolt has been twisted
Afterwards, bolt is twisted according to chi sequence moment of torsion control, included the following steps:
Three-shaft linkage navigates to right above bolt, and Z axis 43 passes through safe altitude, and C axis 44 is directly rotated to distance controlling touching
Angle when hair is then lowered into height when distance controlling triggering, makes sleeve 46 that can accurately pack into bolt head；Under spiral interpolation
It drops and twists bolt, the interpolation of spiral decline is equal to the helix of bolt；It is enabled under 42 servo of XY axis, during twisting bolt, effectively
Evacuation is because positioning is not allowed to lead to 42 stress of XY axis；When reaching setting torque, rotary shaft C axis 44 is lower enabled, and relaxation fits closely
Sleeve 46 and bolt head, smoothly increase sleeve 46, Z axis 43 made to rise to safe altitude；
In the present embodiment, as illustrated in figs. 1-4 and 9, the manipulator for twisting bolt is SCARA type, rectangular co-ordinate machine
Manipulators more than three axis of tool hand type or six axis joint Robot Types；Bolt is hexagon socket head cap screw head, hexagon-headed bolt
Head, perhaps each bolt head of slotted bolt head has match sleeve 46 or spanner to cross recess, may be mounted at machinery
Hand end is gone to execute.
Embodiment 4:
As shown in Fig. 1-Fig. 4 and Figure 10, moment of torsion control provided in this embodiment twists bolt method, it is characterised in that: including
Rectangular co-ordinate bolt machine 4, scaling board 47 and the control system being connected with rectangular co-ordinate bolt machine 4, on rectangular co-ordinate bolt machine 4
Equipped with three-shaft linkage, three-shaft linkage include X-axis 41, the Y-axis being arranged in X-axis 41 42, the Z axis 43 being arranged in Y-axis 42 and
C axis 44 in 43 one end of Z axis, includes the following steps:
Step 1: according to the fixed workpiece 48 of scaling board 47；
Step 2: to the specification of screw thread, the quantity of the position coordinates of screw thread, screw thread on all workpiece 48, carrying out screw thread grouping
And group number, and number in group is carried out to each grouping, screw thread grouping includes drawing identification grouping, teaching identification grouping and vision
Identification grouping；
Step 3: bolt head grouping being carried out to the bolt head on all workpiece 48, group numbers, and carries out group to each grouping
Interior number；
Step 4: control system carries out whole path planning to all groups of other screw threads or bolt head；
Step 5: being manually screwed in bolt in advance in the threaded hole on workpiece 48；
Step 6: rectangular co-ordinate bolt machine 4 returns to zero；
Step 7: selection sleeve 46 is successively twisted bolt according to chi sequence to screw thread grouping or bolt head grouping, is used
Diagonally stubborn bolt, is twisted in two times: first pass distance controlling twists bolt, and second time moment of torsion control twists bolt；
In the present embodiment, as shown in Fig. 1-Fig. 4 and Figure 10, rectangular co-ordinate bolt machine 4 be equipped with industrial camera 45 and
The vision system being connected with industrial camera 45, vision system take pictures to workpiece by industrial camera, in identification bolt head, bolt head
Then heart position and bolt head angle carry out bolt head grouping and number to the bolt head identified.
In the present embodiment, it as shown in Fig. 1-Fig. 4 and Figure 10, is grouped according to bolt head and bolt head is divided into the 1st group, the 2nd
Group and the 3rd group, organize in grouping are as follows:
1st group: 6 M12,1-1,1-2,1-3,1-4,1-5,1-6；
2nd group: 4 M8,2-1,2-2,2-3,2-4；
3rd group: 4 M6,3-1,3-2,3-3,3-4.
In the present embodiment, as shown in Fig. 1-Fig. 4 and Figure 10, path planning includes:
Control system carries out path planning according to thread size sequence or bolt head size order first, to the 1st group, the
2 groups and the 3rd group are twisted bolt in sequence；
Secondly control system to inside each group all screw threads or bolt head carry out whole path planning, according to
Interleaved mode carries out path planning:
1st group, bolt is twisted according to the sequence of 1-1,1-4,1-3,1-6,1-2,1-5；
2nd group, bolt is twisted according to the sequence of 2-1,2-3,2-4,2-2；
3rd group, bolt is twisted according to the sequence of 3-1,3-3,3-4,3-2.
In the present embodiment, as shown in Fig. 1-Fig. 4 and Figure 10, distance controlling twist bolt the step of it is as follows:
Three-shaft linkage navigates to right above 1-1 bolt first, and Z axis 43 passes through safe altitude, has been then lowered into and has twisted height,
Spiral interpolation declines stubborn bolt, and the interpolation of spiral decline is equal to the helix of bolt, enables under 42 servo of XY axis, know when vision and determine
When position does not have error, hexagonal bolt head is effectively ensured and slides into sleeve 46, during twisting bolt, effectively avoids because of positioning not
Standard leads to 42 stress of XY axis；When reaching distance controlling triggering height, lower enabled, the sleeve that relaxation fits closely of rotary shaft C axis 44
46 and bolt head, so that sleeve 46 is smoothly risen to safe altitude；
It goes three-shaft linkage to navigate to right above 1-4 bolt again, twists bolt according to distance controlling；
It goes three-shaft linkage to navigate to right above 1-3 bolt again, twists bolt according to distance controlling；
It goes three-shaft linkage to navigate to right above 1-6 bolt again, twists bolt according to distance controlling；
It goes three-shaft linkage to navigate to right above 1-2 bolt again, twists bolt according to distance controlling；
Last three-shaft linkage navigates to right above 1-5 bolt, twists bolt according to distance controlling.
In the present embodiment, as shown in Fig. 1-Fig. 4 and Figure 10, bolt is twisted using distance controlling, one group of 6 bolt has been twisted
Afterwards, bolt is twisted according to chi sequence moment of torsion control, included the following steps:
Three-shaft linkage navigates to right above bolt, and Z axis 43 passes through safe altitude, and C axis 44 is directly rotated to distance controlling touching
Angle when hair is then lowered into height when distance controlling triggering, makes sleeve 46 that can accurately pack into bolt head；Under spiral interpolation
It drops and twists bolt, the interpolation of spiral decline is equal to the helix of bolt；It is enabled under 42 servo of XY axis, during twisting bolt, effectively
Evacuation is because positioning is not allowed to lead to 42 stress of XY axis；When reaching setting torque, rotary shaft C axis 44 is lower enabled, and relaxation fits closely
Sleeve 46 and bolt head, smoothly increase sleeve 46, Z axis 43 made to rise to safe altitude；
In the present embodiment, as shown in Fig. 1-Fig. 4 and Figure 10, the manipulator for twisting bolt is SCARA type, rectangular co-ordinate machine
Manipulators more than three axis of tool hand type or six axis joint Robot Types；Bolt is hexagon socket head cap screw head, hexagon-headed bolt
Head, perhaps each bolt head of slotted bolt head has match sleeve 46 or spanner to cross recess, may be mounted at machinery
Hand end is gone to execute.
In aforementioned four embodiment, as shown in figure 3, safe altitude is extremely important, if 1-1, which is twisted, is over turret head still
In sleeve, Z axis does not rise to safe altitude, and direct three-shaft linkage navigates to 1-4, it may occur that collision, if the 1st group is twisted and is over
1-5 bolt head does not rise to safe altitude also in sleeve, and direct three-shaft linkage navigates to 2-1, it may occur that collision, in order to protect
Card safety, all up and down actions and three-shaft linkage positioning, it is necessary to pass through safe altitude, in safe altitude.
In aforementioned four embodiment, as described in Fig. 1-Figure 10 shown in, twist bolt manipulator be SCARA type, right angle
More than three axis of coordinate robots type or six axis joint Robot Types manipulator and bolt are hexagon socket head cap screw head, six
Hex bolt head, cross recess or slotted bolt head, are the preferred embodiments in aforementioned four embodiment, machinery more than three axis
Formula includes that the mechanical or other kinds of manipulator such as six axis is suitable for the present invention, other types bolt, screw thread, sleeve with
And spanner is also applied for the present invention.
In conclusion moment of torsion control provided by the above embodiment twists bolt method, according to production in above-mentioned several embodiments
The design feature of product provides several methods for how finding screw position and bolt head position, can be fast and accurately to spiral shell
Line and bolt head are positioned, and how the method for distance controlling and moment of torsion control the turn of the screw, according to different axle position sum numbers
Amount, once-through operation can twist all screws.
The above, further embodiment only of the present invention, but scope of protection of the present invention is not limited thereto, and it is any
Within the scope of the present disclosure, according to the technique and scheme of the present invention and its design adds those familiar with the art
With equivalent substitution or change, protection scope of the present invention is belonged to.
Claims (10)
1. a kind of moment of torsion control twists bolt method, it is characterised in that: sat including rectangular co-ordinate bolt machine, scaling board and with right angle
The connected control system of bolt machine is marked, rectangular co-ordinate bolt machine is equipped with three-shaft linkage, and three-shaft linkage includes X-axis, is arranged in X-axis
On Y-axis, the Z axis that is arranged in Y-axis and the C axis in Z axis one end, include the following steps:
Step 1: according to the fixed workpiece of scaling board；
Step 2: to the specification of screw thread, the quantity of the position coordinates of screw thread, screw thread on all workpiece, carrying out screw thread grouping and group
Number, and number in group is carried out to each grouping, screw thread grouping includes drawing identification grouping, teaching identification grouping and visual identity point
Group；
Or, carrying out bolt head grouping and group number to the bolt head on all workpiece, and number in group is carried out to each grouping；
Step 3: control system carries out whole path planning to all groups of other screw threads or bolt head；
Step 4: being manually screwed in bolt in advance in the threaded hole on workpiece；
Step 5: rectangular co-ordinate bolt machine returns to zero；
Step 6: selection sleeve is successively twisted bolt according to chi sequence to screw thread grouping or bolt head grouping, is twisted using diagonal
Bolt is twisted in two times: first pass distance controlling twists bolt, and second time moment of torsion control twists bolt.
2. a kind of moment of torsion control according to claim 1 twists bolt method, it is characterised in that: teaching identification is grouped into artificial
A rectangular co-ordinate bolt machine is operated, motion profile is then recorded by control system, first according to sequence manually teaching in group,
According still further to the manually teaching of group sequence.
3. a kind of moment of torsion control according to claim 1 twists bolt method, it is characterised in that: set on rectangular co-ordinate bolt machine
The vision system for having industrial camera and being connected with industrial camera, industrial camera take pictures to the workpiece within the scope of scaling board,
Image is generated, visual identity is grouped into vision system and is grouped and numbers according to the screw thread that image recognition goes out several specification.
4. a kind of moment of torsion control according to claim 1 twists bolt method, it is characterised in that: set on rectangular co-ordinate bolt machine
There are the workpiece drawing in industrial camera, the vision system being connected with industrial camera, Upper system and importing Upper system, drawing
It is equipped with parts profile and index point, Upper system identifies that all screw threads on drawing, vision system take pictures to scaling board,
Workpiece profile and index point are found, for determining workpiece variation angle, index point is used to determine component shift position workpiece profile,
Upper system calculates the relationship of workpiece coordinate system and drawing coordinate system by matrix operation, forms corresponding relationship, visual identity point
Group is that Upper system is grouped and numbers to the screw thread on drawing.
5. a kind of moment of torsion control according to claim 1 twists bolt method, it is characterised in that: set on rectangular co-ordinate bolt machine
The vision system for having industrial camera and being connected with industrial camera, vision system take pictures to workpiece by industrial camera, identify spiral shell
Then bolt head, bolt head center and bolt head angle carry out bolt head grouping and number to the bolt head identified.
6. a kind of moment of torsion control according to claim 1 twists bolt method, it is characterised in that: according to screw thread grouping or spiral shell
Bolt head grouping by screw thread perhaps bolt head be divided into several groupings and in each grouping screw thread or bolt head be numbered,
All numbers are all different.
7. a kind of moment of torsion control according to claim 6 twists bolt method, it is characterised in that: path planning includes:
Control system carries out path planning according to thread size sequence or bolt head size order first, to all groupings according to
Size order twists bolt；
All screw threads or bolt head of each packets inner are numbered next control system and whole path planning,
It numbers in sequence are as follows:
1st group: 1-1,1-2,1-3,1-4,1-5,1-6；
2nd group: 2-1,2-2,2-3,2-4；
3rd group: 3-1,3-2,3-3,3-4；
Path planning is carried out according to interleaved mode are as follows:
1st group, bolt is twisted according to the sequence of 1-1,1-4,1-3,1-6,1-2,1-5；
2nd group, bolt is twisted according to the sequence of 2-1,2-3,2-4,2-2；
3rd group, bolt is twisted according to the sequence of 3-1,3-3,3-4,3-2.
8. a kind of moment of torsion control according to claim 1 twists bolt method, it is characterised in that: distance controlling twists the step of bolt
It is rapid as follows:
Three-shaft linkage navigates to right above bolt first, and Z axis passes through safe altitude, has been then lowered into and has twisted height, spiral interpolation
Decline and twist bolt, the interpolation of spiral decline is equal to the helix of bolt, enables under XY axis servo, and knowing positioning when vision Cun not miss
When poor, hexagonal bolt head is effectively ensured and slides into sleeve, during twisting bolt, effectively evacuation because positioning be not allowed to cause XY axis by
Power；When reaching distance controlling triggering height, enabled under rotary shaft C axis, the sleeve and bolt head that relaxation fits closely keep sleeve suitable
Benefit rises to safe altitude, has twisted the bolt in each grouping according to interleaved mode sequence.
9. a kind of moment of torsion control according to claim 1 twists bolt method, it is characterised in that: moment of torsion control twists bolt, packet
Include following steps:
It is twisted after bolt twisted the bolt of each grouping using distance controlling, three-shaft linkage navigates to right above bolt first, Z axis
By safe altitude, C axis is directly rotated to angle when distance controlling triggering, is then lowered into height when distance controlling triggering
Degree, makes sleeve that can accurately pack into bolt head；Spiral interpolation, which declines, twists bolt, and the interpolation of spiral decline is equal to the helix of bolt；
It is enabled under XY axis servo, during twisting bolt, effectively evacuation is because positioning is not allowed to lead to XY axis stress；Reach setting torque
When, it enables under rotary shaft C axis, the sleeve and bolt head that relaxation fits closely rise sleeve smoothly, rise to Z axis
Safe altitude has twisted the bolt in each grouping according to interleaved mode sequence.
10. a kind of moment of torsion control according to claim 1 twists bolt method, it is characterised in that: twist bolt manipulator be
Manipulators more than three axis of SCARA type, right angle coordinate manipulator type or six axis joint Robot Types；Bolt is interior six
Corner bolt head, hexagon-headed bolt head, cross recess bolt head or slotted bolt head, each bolt head have the sleeve that matches
Or spanner, it may be mounted at arm end and go to execute.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811079296.5A CN109227104B (en) | 2018-09-17 | 2018-09-17 | torque control bolt screwing method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811079296.5A CN109227104B (en) | 2018-09-17 | 2018-09-17 | torque control bolt screwing method |
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| CN109227104B CN109227104B (en) | 2019-12-13 |
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| CN109986323A (en) * | 2019-04-01 | 2019-07-09 | 南京睿易智能科技有限公司 | A kind of screw automatic charging device flexible and method |
| CN110480306A (en) * | 2019-07-09 | 2019-11-22 | 金榀精密工业(苏州)有限公司 | Intelligent locating formula intelligent casting component assembly method |
| CN112404972A (en) * | 2020-10-27 | 2021-02-26 | 北海市海城区海腹川背信息咨询服务中心 | Screw assembly device based on big data intelligent recognition |
| CN112935775A (en) * | 2021-01-27 | 2021-06-11 | 青岛海尔工业智能研究院有限公司 | Intelligent visual full-automatic screw locking method and device |
| CN113635036A (en) * | 2021-08-13 | 2021-11-12 | 杭州徐睿机械有限公司 | Joint tightening device |
| WO2022018204A3 (en) * | 2020-07-23 | 2022-03-10 | Arnold Umformtechnik Gmbh & Co. Kg | Screw, use, method and system |
| CN115106767A (en) * | 2022-08-01 | 2022-09-27 | 中国船舶集团有限公司第七一六研究所 | Screw fool-proof screwing system based on ultrasonic positioning |
| CN115709373A (en) * | 2022-11-17 | 2023-02-24 | 湖州丽天智能科技有限公司 | Photovoltaic system replacement method and system |
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Inventor after: Feng Xiaohe Inventor after: Zhou Benjian Inventor after: Liu Haibin Inventor after: Bao Jianbo Inventor after: Zhuang Yuanchang Inventor after: Chen Jialong Inventor after: Maoyihai Inventor before: Liu Haibin Inventor before: Bao Jianbo Inventor before: Zhuang Yuanchang Inventor before: Chen Jialong Inventor before: Maoyihai |
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Effective date of registration: 20220324 Address after: 213000 Panjia industrial concentration area, Xueyan Town, Wujin District, Changzhou City, Jiangsu Province Patentee after: TRACK TRAFFIC EQUIPMENT CO., LTD. OF CHINA RAILWAY CONSTRUCTION ELETRIFICATION BUREAU Group Patentee after: CHANGZHOU INSTITUTE OF NUMERICAL CONTROL TECHNOLOGY Patentee after: CHANGZHOU RATEL AUTOMATION EQUIPMENT CO.,LTD. Address before: 213164 203, 2nd floor, zhizhiyuan, Sany Road, science and Education City, Wujin District, Changzhou City, Jiangsu Province Patentee before: CHANGZHOU INSTITUTE OF NUMERICAL CONTROL TECHNOLOGY Patentee before: Changzhou ruiter automation equipment Co., Ltd |