CN109227104B - torque control bolt screwing method - Google Patents
torque control bolt screwing method Download PDFInfo
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- CN109227104B CN109227104B CN201811079296.5A CN201811079296A CN109227104B CN 109227104 B CN109227104 B CN 109227104B CN 201811079296 A CN201811079296 A CN 201811079296A CN 109227104 B CN109227104 B CN 109227104B
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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 torque control bolt screwing method, which belongs to the technical field of industrial assembly, and comprises a rectangular coordinate bolt machine, a calibration plate and a connected control system, and comprises the following steps: fixing the workpiece according to the calibration plate, numbering the groups in groups, wherein the thread groups comprise drawing identification groups, teaching identification groups, visual identification groups or bolt head groups, and numbering the groups in groups; the control system performs overall path planning on all groups of threads or bolt heads; manually and manually pre-screwing the bolt into a threaded hole on a workpiece; zeroing the rectangular coordinate bolt machine; and selecting sleeves, and screwing the bolts in the thread groups or the bolt head groups according to the cross sequence. According to the invention, the threads or the bolt heads are grouped and numbered through the drawing identification grouping, the teaching identification grouping, the visual identification grouping and the bolt head grouping, and the bolt screwing path is planned through the control system, so that the aim of quickly screwing the bolts is achieved.
Description
Technical Field
the invention relates to a bolt screwing method, in particular to a torque control bolt screwing method, and belongs to the technical field of industrial assembly.
Background
there are two methods for controlling the pretension of the bolt: the tension control method is to use a hydraulic tensioner to stretch a bolt to a certain length and then to easily tighten a nut, at which time the bolt is elastically deformed to generate a pre-tightening force, and the torque control method is to use a tightening machine, an electric torque wrench, a pneumatic torque wrench, a hydraulic torque wrench, or a manual torque wrench to control the pre-tightening force of the bolt.
however, manual torque is adopted on an industrial production line, so that the speed is low, the time is wasted, and the working efficiency is low, so that a set of automatic bolt screwing method is needed, the positions of a threaded hole and a bolt head can be automatically identified, the bolt screwing sequence is controlled, and the working efficiency is improved.
disclosure of Invention
the invention mainly aims to provide a torque control bolt screwing method, which can be used for grouping and numbering threads or bolt heads through drawing identification grouping, teaching identification grouping, visual identification grouping and bolt head grouping and planning bolt screwing paths through a control system, thereby achieving the purpose of quickly screwing bolts.
The purpose of the invention can be achieved by adopting the following technical scheme:
a torque control bolt screwing method comprises a rectangular coordinate bolt machine, a calibration plate and a control system connected with the rectangular coordinate bolt machine, wherein three-axis linkage is arranged on the rectangular coordinate bolt machine and comprises an X axis, a Y axis arranged on the X axis, a Z axis arranged on the Y axis and a C axis arranged at one end of the Z axis, and the method comprises the following steps:
step 1: fixing the workpiece according to the calibration plate;
step 2: performing thread grouping and group numbering on the specifications of threads, position coordinates of the threads and the number of the threads on all workpieces, and performing intra-group numbering on each group, wherein the thread grouping comprises drawing identification grouping, teaching identification grouping and visual identification grouping;
or grouping the bolt heads on all the workpieces, numbering the bolt heads in groups, and numbering the groups in groups;
and step 3: the control system performs overall path planning on all groups of threads or bolt heads;
And 4, step 4: manually and manually pre-screwing the bolt into a threaded hole on a workpiece;
And 5: zeroing the rectangular coordinate bolt machine;
Step 6: selecting a sleeve, sequentially grouping the threads or the bolt heads, screwing the bolts according to a cross sequence, adopting diagonal screwing of the bolts, and screwing twice: the bolts are screwed by distance control for the first time and by torque control for the second time.
preferably, teaching identification is divided into groups, namely, manually operating the rectangular coordinate bolt machine once, then recording the motion trail by the control system, manually teaching according to the group sequence, and manually teaching according to the group sequence.
Preferably, the rectangular coordinate bolt machine is provided with an industrial camera and a vision system connected with the industrial camera, the industrial camera takes pictures of workpieces in the range of the calibration plate to generate images, and the vision identification grouping is that the vision system identifies threads of a plurality of specifications to group and number according to the images.
Preferably, the rectangular coordinate bolt machine is provided with an industrial camera, a vision system connected with the industrial camera, an upper system and a workpiece drawing guided into the upper system, the drawing is provided with a part contour and mark points, the upper system identifies all threads on the drawing, the vision system photographs a calibration plate and searches the workpiece contour and the mark points, the workpiece contour is used for determining a workpiece offset angle, the mark points are used for determining a part offset position, the upper system calculates the relation between a workpiece coordinate system and a drawing coordinate system through matrix operation to form a corresponding relation, and the vision identification grouping is that the upper system groups and numbers the threads on the drawing.
preferably, the rectangular coordinate bolt machine is provided with an industrial camera and a vision system connected with the industrial camera, the vision system photographs the workpiece through the industrial camera, identifies the bolt head, the center position of the bolt head and the angle of the bolt head, and then performs bolt head grouping and numbering on the identified bolt head.
Preferably, the threads or the bolt heads are grouped into several groups according to the thread groups or the bolt head groups, and the threads or the bolt heads in each group are numbered, all numbers being different.
preferably, the path planning comprises:
firstly, the control system carries out path planning according to the size sequence of threads or the size sequence of bolt heads, and screws bolts for all groups according to the size sequence;
Secondly, the control system numbers all the threads or bolt heads in each group and plans the whole path, and the numbers are as follows:
Group 1: 1-1, 1-2, 1-3, 1-4, 1-5, 1-6;
group 2: 2-1, 2-2, 2-3, 2-4;
Group 3: 3-1, 3-2, 3-3, 3-4;
the path planning is carried out according to a cross mode as follows:
in group 1, bolts are screwed according to the sequence of 1-1, 1-4, 1-3, 1-6, 1-2 and 1-5;
group 2, screwing bolts according to the sequence of 2-1, 2-3, 2-4 and 2-2;
and in group 3, bolts are screwed according to the sequence of 3-1, 3-3, 3-4 and 3-2.
Preferably, the distance-controlling bolting step is as follows:
Firstly, three-axis linkage positioning is carried out right above a bolt, a Z axis passes through a safe height, then the Z axis descends to a screwing-up height, a spiral interpolation descends to screw the bolt, the spiral interpolation of the spiral descending is equal to a spiral line of the bolt, the XY axis servo enables, when errors exist in visual identification positioning, the hexagonal bolt head is effectively guaranteed to slide into a sleeve, and XY axis stress caused by inaccurate positioning is effectively avoided in the process of screwing the bolt; when the distance control triggering height is reached, the rotating shaft C is enabled to loosen the tightly attached sleeve and the bolt head, so that the sleeve smoothly rises to the safe height, and the bolts in each group are sequentially screwed according to the cross mode.
Preferably, the torque-controlled bolting includes the steps of:
after the distance control screwing bolts are adopted to screw each group of bolts, firstly, the three shafts are linked and positioned right above the bolts, the Z shaft passes through the safety height, the C shaft directly rotates to the angle when the distance control is triggered, and then the C shaft descends to the height when the distance control is triggered, so that the sleeve can be accurately sleeved in the bolt head; screwing the bolt by descending the spiral interpolation, wherein the spiral descending interpolation is equal to the spiral line of the bolt; the XY axis servo is enabled, and the XY axis stress caused by inaccurate positioning is effectively avoided in the bolt screwing process; when the set torque is reached, the C-axis of the rotating shaft is enabled to loosen the tightly attached sleeve and the bolt head, so that the sleeve can smoothly rise, the Z-axis rises to a safe height, and the bolts in each group are sequentially screwed in a crossed mode.
preferably, the bolt screwing manipulator is a three-axis or more manipulator of a SCARA type, a rectangular coordinate manipulator type or a six-axis joint manipulator type; the bolts are inner hexagon bolt heads, cross grooves or straight groove bolt heads, each bolt head is provided with a matched sleeve or a spanner, and the bolts can be arranged at the tail end of a mechanical arm to be executed.
the invention has the beneficial technical effects that:
The invention provides a method for screwing a bolt by torque control, which comprises four methods for screwing the bolt: drawing discernment is divided into groups, teaching discernment is divided into groups, vision identification is divided into groups and the bolt head is divided into groups, can be fast accurate find screw thread and bolt position to adopt distance control and torque control to twist the screw, the screw that can be firm.
according to the torque control bolt screwing method provided by the invention, the rectangular coordinate bolt machine is enabled when being used in the process of using a servo motor and controlling the servo motor, the XY axis stress caused by inaccurate positioning can be effectively avoided in the screw screwing process, when the distance control trigger height is reached, the C axis of the rotating shaft is enabled, the sleeve and the bolt head which are tightly attached can be loosened, the sleeve can be ensured to smoothly rise, the sleeve rises to the safe height, and the problem of screw screwing which troubles the industrial assembly field for a long time is solved through the lower enabling.
drawings
FIG. 1 is a schematic flow diagram of a preferred embodiment of a torque-controlled bolting method according to the present invention;
FIG. 2 is a schematic view showing the overall structure of a preferred embodiment of a torque control bolting method according to the present invention;
FIG. 3 is a highly schematic illustration of a preferred embodiment of a torque controlled bolting method according to the invention;
FIG. 4 is a thread group numbering diagram of a preferred embodiment of a torque control bolting method according to the invention;
FIG. 5 is a schematic workpiece profile view of a preferred embodiment of a torque-controlled bolting method according to the invention;
FIG. 6 is a schematic diagram of an offset industrial profile of a preferred embodiment of a torque controlled bolting method according to the invention;
FIG. 7 is a schematic image recognition flow diagram of a preferred embodiment of a torque control bolting method according to the present invention;
FIG. 8 is a schematic view of a visual recognition flow of a preferred embodiment of a torque control bolting method according to the invention;
FIG. 9 is a schematic illustration of a teaching identification flow of a preferred embodiment of a torque control bolting method according to the present invention;
FIG. 10 is a schematic view of a bolt head identification flow of a preferred embodiment of a torque controlled bolting method according to the invention;
in the figure: 4-rectangular coordinate bolt machine, 41-X axis, 42-Y axis, 43-Z axis, 44-C axis, 45-industrial camera, 46-sleeve, 47-calibration plate, 48-workpiece, 49-group 1, 50-group 2, 51-group 3.
Detailed Description
in order to make the technical solutions of the present invention more clear and definite for those skilled in the art, the present invention is further described in detail below with reference to the examples and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
example 1:
as shown in fig. 1 to 7, the torque control bolt screwing method provided by the present embodiment includes a cartesian bolt machine 4, a calibration plate 47, and a control system connected to the cartesian bolt machine 4, wherein a three-axis linkage is provided on the cartesian bolt machine 4, the three-axis linkage includes an X-axis 41, a Y-axis 42 provided on the X-axis 41, a Z-axis 43 provided on the Y-axis 42, and a C-axis 44 at one end of the Z-axis 43, and includes the following steps:
Step 1: the workpiece 48 is fixed according to the calibration plate 47, as shown in fig. 5 and 6, and the workpiece is fixed on the calibration plate at any angle and position;
step 2: the rectangular coordinate bolt machine 4 is provided with an industrial camera 45, a vision system connected with the industrial camera 45, an upper system and a workpiece 48 drawing led into the upper system, the workpiece drawing is led into the upper system, the drawing is provided with a part outline and mark points, the upper system can identify all threads on the drawing, the upper system calculates the relation between a workpiece coordinate system and a drawing coordinate system through matrix operation to form a corresponding relation, the specification of the threads, the position coordinates of the threads and the number of the threads are subjected to thread grouping and group numbering, and each group is subjected to group numbering, namely the drawing identification grouping;
And step 3: the control system carries out integral path planning on all the groups of threads;
And 4, step 4: manually pre-screwing the bolt into a threaded hole on the workpiece 48;
and 5: the rectangular coordinate bolt machine 4 returns to zero;
step 6: selecting the sleeve 46, screwing the bolts in the thread groups or the bolt head groups according to the cross sequence, adopting the diagonal screwing bolts, and screwing twice: the distance control bolt screwing for the first time and the torque control bolt screwing for the second time;
in this embodiment, as shown in fig. 1-7, the threads are grouped into 1 st group 49, 2 nd group 50 and 3 rd group 51 according to drawing identification, and the groups are:
group 1: 6M 12, 1-1, 1-2, 1-3, 1-4, 1-5, 1-6;
group 2: 4M 8, 2-1, 2-2, 2-3, 2-4;
group 3: 4M 6, 3-1, 3-2, 3-3, 3-4.
in this embodiment, as shown in fig. 1 to 7, the path planning includes:
firstly, the control system carries out path planning according to the size sequence of threads or the size sequence of bolt heads, and screws bolts to a 1 st group 49, a 2 nd group 50 and a 3 rd group 51 in sequence;
secondly, the control system performs overall path planning on all threads or bolt heads in each group, and performs path planning according to a crossing mode:
group 1, 49, the bolts are screwed according to the sequence of 1-1, 1-4, 1-3, 1-6, 1-2 and 1-5;
in group 2, bolts are screwed according to the sequence of 2-1, 2-3, 2-4 and 2-2;
in group 3, the bolts are screwed in the order of 3-1, 3-3, 3-4, and 3-2.
In this embodiment, as shown in fig. 1 to 7, the distance control bolting step is as follows:
firstly, the three-axis linkage positioning is carried out right above a 1-1 bolt, a Z axis 43 passes through a safety height and then descends to a screwing-up height, a spiral interpolation descends to screw up the bolt, the spiral descending interpolation is equal to a spiral line of the bolt, the XY axis 42 enables under the servo, when errors exist in visual identification, the hexagonal bolt head is effectively guaranteed to slide into a sleeve 46, and the XY axis 42 is effectively prevented from being stressed due to inaccurate positioning in the process of screwing the bolt; when the distance control triggering height is reached, the rotating shaft C shaft 44 is enabled to be below, the tightly attached sleeve 46 and the bolt head are loosened, and the sleeve 46 smoothly rises to the safety height;
then, the three shafts are positioned right above the bolts 1-4 in a linkage manner, and the bolts are screwed according to the distance control;
then, the three shafts are positioned right above the bolts 1-3 in a linkage manner, and the bolts are screwed according to the distance control;
then, the three shafts are positioned right above the bolts 1-6 in a linkage manner, and the bolts are screwed according to the distance control;
Then, the three shafts are positioned right above the bolts 1-2 in a linkage manner, and the bolts are screwed according to the distance control;
and finally, positioning the three shafts to be right above the bolts of 1-5 in a linkage manner, and screwing the bolts according to the distance control.
in this embodiment, as shown in fig. 1 to 7, the distance-controlled bolt screwing is adopted, and after a group of 6 bolts are screwed, the bolt screwing is controlled according to the cross-sequence torque, which includes the following steps:
the three shafts are positioned right above the bolt in a linkage manner, the Z shaft 43 passes through the safety height, the C shaft 44 directly rotates to the angle when the distance control is triggered, and then the C shaft descends to the height when the distance control is triggered, so that the sleeve 46 can be accurately sleeved in the bolt head; screwing the bolt by descending the spiral interpolation, wherein the spiral descending interpolation is equal to the spiral line of the bolt; the XY axis 42 is enabled under servo, and the stress of the XY axis 42 caused by inaccurate positioning is effectively avoided in the bolt screwing process; when the set torque is reached, the lower part of the rotating shaft C shaft 44 is enabled, the tightly attached sleeve 46 and the bolt head are loosened, so that the sleeve 46 can smoothly rise, and the Z shaft 43 rises to a safe height;
in the present embodiment, as shown in fig. 1 to 7, the robot for screwing the bolt is a three-axis or more robot of a SCARA type, a rectangular coordinate robot type, or a six-axis joint robot type; the bolts are socket head, hex head, cross slot or slotted head, each having a mating socket 46 or wrench, which may be mounted at the end of a robot for execution.
Example 2:
as shown in fig. 1 to 4 and 8, the torque control bolt screwing method provided by the present embodiment includes a cartesian bolt machine 4, a calibration plate 47 and a control system connected to the cartesian bolt machine 4, wherein a three-axis linkage is provided on the cartesian bolt machine 4, the three-axis linkage includes an X-axis 41, a Y-axis 42 provided on the X-axis 41, a Z-axis 43 provided on the Y-axis 42 and a C-axis 44 at one end of the Z-axis 43, and includes the following steps:
Step 1: fixing the workpiece 48 according to the calibration plate 47;
Step 2: the rectangular coordinate bolt machine 4 is provided with an industrial camera 45 and a vision system connected with the industrial camera 45, the industrial camera 45 takes pictures of workpieces 48 in the range of a calibration plate 47 to generate images, the vision identification grouping is that the vision system identifies the specifications of threads, the position coordinates of the threads and the number of the threads on all the workpieces 48 according to the images, carries out thread grouping and group numbering, and carries out group numbering on each group;
and step 3: the control system performs overall path planning on all groups of threads or bolt heads;
and 4, step 4: manually pre-screwing the bolt into a threaded hole on the workpiece 48;
and 5: the rectangular coordinate bolt machine 4 returns to zero;
step 6: selecting the sleeve 46, screwing the bolts in the thread groups or the bolt head groups according to the cross sequence, adopting the diagonal screwing bolts, and screwing twice: the distance control bolt screwing for the first time and the torque control bolt screwing for the second time;
in the present embodiment, as shown in fig. 1-4 and 8, the threads are divided into groups 1, 2 and 3 according to the visual recognition grouping, and the groups are grouped as follows:
Group 1: 6M 12, 1-1, 1-2, 1-3, 1-4, 1-5, 1-6;
group 2: 4M 8, 2-1, 2-2, 2-3, 2-4;
group 3: 4M 6, 3-1, 3-2, 3-3, 3-4.
in this embodiment, as shown in fig. 1 to 4 and 8, the path planning includes:
firstly, the control system carries out path planning according to the size sequence of threads or the size sequence of bolt heads, and screws bolts in a 1 st group, a 2 nd group and a 3 rd group in sequence;
secondly, the control system performs overall path planning on all threads or bolt heads in each group, and performs path planning according to a crossing mode:
in group 1, bolts are screwed according to the sequence of 1-1, 1-4, 1-3, 1-6, 1-2 and 1-5;
group 2, screwing bolts according to the sequence of 2-1, 2-3, 2-4 and 2-2;
and in group 3, bolts are screwed according to the sequence of 3-1, 3-3, 3-4 and 3-2.
In the present embodiment, as shown in fig. 1 to 4 and 8, the distance control screwing step is as follows:
firstly, the three-axis linkage positioning is carried out right above a 1-1 bolt, a Z axis 43 passes through a safety height and then descends to a screwing-up height, a spiral interpolation descends to screw up the bolt, the spiral descending interpolation is equal to a spiral line of the bolt, the XY axis 42 enables under the servo, when errors exist in visual identification, the hexagonal bolt head is effectively guaranteed to slide into a sleeve 46, and the XY axis 42 is effectively prevented from being stressed due to inaccurate positioning in the process of screwing the bolt; when the distance control triggering height is reached, the rotating shaft C shaft 44 is enabled to be below, the tightly attached sleeve 46 and the bolt head are loosened, and the sleeve 46 smoothly rises to the safety height;
then, the three shafts are positioned right above the bolts 1-4 in a linkage manner, and the bolts are screwed according to the distance control;
Then, the three shafts are positioned right above the bolts 1-3 in a linkage manner, and the bolts are screwed according to the distance control;
then, the three shafts are positioned right above the bolts 1-6 in a linkage manner, and the bolts are screwed according to the distance control;
Then, the three shafts are positioned right above the bolts 1-2 in a linkage manner, and the bolts are screwed according to the distance control;
and finally, positioning the three shafts to be right above the bolts of 1-5 in a linkage manner, and screwing the bolts according to the distance control.
in this embodiment, as shown in fig. 1 to 4 and 8, the distance-controlled bolt screwing is adopted, and after a group of 6 bolts are screwed, the bolt screwing is controlled according to the cross-sequence torque, which includes the following steps:
The three shafts are positioned right above the bolt in a linkage manner, the Z shaft 43 passes through the safety height, the C shaft 44 directly rotates to the angle when the distance control is triggered, and then the C shaft descends to the height when the distance control is triggered, so that the sleeve 46 can be accurately sleeved in the bolt head; screwing the bolt by descending the spiral interpolation, wherein the spiral descending interpolation is equal to the spiral line of the bolt; the XY axis 42 is enabled under servo, and the stress of the XY axis 42 caused by inaccurate positioning is effectively avoided in the bolt screwing process; when the set torque is reached, the lower part of the rotating shaft C shaft 44 is enabled, the tightly attached sleeve 46 and the bolt head are loosened, so that the sleeve 46 can smoothly rise, and the Z shaft 43 rises to a safe height;
in the present embodiment, as shown in fig. 1 to 4 and 8, the bolt-screwing robot is a three-axis or more robot of a SCARA type, a rectangular coordinate robot type, or a six-axis joint robot type; the bolts are socket head, hex head, cross slot or slotted head, each having a mating socket 46 or wrench, which may be mounted at the end of a robot for execution.
example 3:
As shown in fig. 1 to 4 and 9, the torque control bolt screwing method provided by the present embodiment includes a cartesian bolt machine 4, a calibration plate 47 and a control system connected to the cartesian bolt machine 4, wherein a three-axis linkage is provided on the cartesian bolt machine 4, the three-axis linkage includes an X-axis 41, a Y-axis 42 provided on the X-axis 41, a Z-axis 43 provided on the Y-axis 42 and a C-axis 44 at one end of the Z-axis 43, and includes the following steps:
Step 1: fixing the workpiece 48 according to the calibration plate 47;
step 2: teaching, identifying, grouping and numbering the specifications of the threads, the position coordinates of the threads and the number of the threads on all the workpieces 48;
and step 3: the control system performs overall path planning on all the groups of threads: manually operating the rectangular coordinate bolt machine once, then recording a motion track by a control system, manually teaching according to the sequence in a group, and manually teaching according to the sequence of the group;
and 4, step 4: manually pre-screwing the bolt into a threaded hole on the workpiece 48;
and 5: the rectangular coordinate bolt machine 4 returns to zero;
step 6: selecting the sleeve 46, screwing the bolts in the thread groups or the bolt head groups according to the cross sequence, adopting the diagonal screwing bolts, and screwing twice: the distance control bolt screwing for the first time and the torque control bolt screwing for the second time;
in this embodiment, as shown in fig. 1-4 and 9, the threads are grouped into groups 1, 2 and 3 according to the thread grouping, with the intra-group grouping being:
group 1: 6M 12, 1-1, 1-2, 1-3, 1-4, 1-5, 1-6;
group 2: 4M 8, 2-1, 2-2, 2-3, 2-4;
group 3: 4M 6, 3-1, 3-2, 3-3, 3-4.
In this embodiment, as shown in fig. 1 to 4 and 9, the path planning includes:
firstly, the control system carries out path planning according to the size sequence of threads or the size sequence of bolt heads, and screws bolts in a 1 st group, a 2 nd group and a 3 rd group in sequence;
secondly, the control system performs overall path planning on all threads or bolt heads in each group, and performs path planning according to a crossing mode:
In group 1, bolts are screwed according to the sequence of 1-1, 1-4, 1-3, 1-6, 1-2 and 1-5;
group 2, screwing bolts according to the sequence of 2-1, 2-3, 2-4 and 2-2;
And in group 3, bolts are screwed according to the sequence of 3-1, 3-3, 3-4 and 3-2.
in the present embodiment, as shown in fig. 1 to 4 and 9, the distance control screwing step is as follows:
Firstly, the three-axis linkage positioning is carried out right above a 1-1 bolt, a Z axis 43 passes through a safety height and then descends to a screwing-up height, a spiral interpolation descends to screw up the bolt, the spiral descending interpolation is equal to a spiral line of the bolt, the XY axis 42 enables under the servo, when errors exist in visual identification, the hexagonal bolt head is effectively guaranteed to slide into a sleeve 46, and the XY axis 42 is effectively prevented from being stressed due to inaccurate positioning in the process of screwing the bolt; when the distance control triggering height is reached, the rotating shaft C shaft 44 is enabled to be below, the tightly attached sleeve 46 and the bolt head are loosened, and the sleeve 46 smoothly rises to the safety height;
then, the three shafts are positioned right above the bolts 1-4 in a linkage manner, and the bolts are screwed according to the distance control;
Then, the three shafts are positioned right above the bolts 1-3 in a linkage manner, and the bolts are screwed according to the distance control;
then, the three shafts are positioned right above the bolts 1-6 in a linkage manner, and the bolts are screwed according to the distance control;
then, the three shafts are positioned right above the bolts 1-2 in a linkage manner, and the bolts are screwed according to the distance control;
And finally, positioning the three shafts to be right above the bolts of 1-5 in a linkage manner, and screwing the bolts according to the distance control.
in this embodiment, as shown in fig. 1 to 4 and 9, the distance-controlled bolt screwing is adopted, and after a group of 6 bolts are screwed, the bolt screwing is controlled according to the cross-sequence torque, which includes the following steps:
the three shafts are positioned right above the bolt in a linkage manner, the Z shaft 43 passes through the safety height, the C shaft 44 directly rotates to the angle when the distance control is triggered, and then the C shaft descends to the height when the distance control is triggered, so that the sleeve 46 can be accurately sleeved in the bolt head; screwing the bolt by descending the spiral interpolation, wherein the spiral descending interpolation is equal to the spiral line of the bolt; the XY axis 42 is enabled under servo, and the stress of the XY axis 42 caused by inaccurate positioning is effectively avoided in the bolt screwing process; when the set torque is reached, the lower part of the rotating shaft C shaft 44 is enabled, the tightly attached sleeve 46 and the bolt head are loosened, so that the sleeve 46 can smoothly rise, and the Z shaft 43 rises to a safe height;
in the present embodiment, as shown in fig. 1 to 4 and 9, the bolt-screwing robot is a three-axis or more robot of a SCARA type, a rectangular coordinate robot type, or a six-axis joint robot type; the bolts are socket head, hex head, cross slot or slotted head, each having a mating socket 46 or wrench, which may be mounted at the end of a robot for execution.
example 4:
as shown in fig. 1 to 4 and 10, the present embodiment provides a torque control bolt tightening method, characterized in that: including rectangular coordinate bolt machine 4, calibration plate 47 and with the control system that rectangular coordinate bolt machine 4 links to each other, be equipped with the three-axis linkage on rectangular coordinate bolt machine 4, the three-axis linkage includes X axle 41, the Y axle 42 of setting on X axle 41, the Z axle 43 of setting on Y axle 42 and the C axle 44 in Z axle 43 one end, includes following step:
step 1: fixing the workpiece 48 according to the calibration plate 47;
step 2: grouping the threads and numbering the groups according to the specification of the threads, the position coordinates of the threads and the number of the threads on all workpieces 48, and numbering the groups in groups, wherein the thread grouping comprises a drawing identification grouping, a teaching identification grouping and a visual identification grouping;
and step 3: grouping the bolt heads on all the workpieces 48, numbering the bolt heads in groups, and numbering the groups in groups;
And 4, step 4: the control system performs overall path planning on all groups of threads or bolt heads;
and 5: manually pre-screwing the bolt into a threaded hole on the workpiece 48;
step 6: the rectangular coordinate bolt machine 4 returns to zero;
And 7: selecting the sleeve 46, screwing the bolts in the thread groups or the bolt head groups according to the cross sequence, adopting the diagonal screwing bolts, and screwing twice: the distance control bolt screwing for the first time and the torque control bolt screwing for the second time;
In the present embodiment, as shown in fig. 1-4 and 10, the rectangular coordinate bolt machine 4 is provided with an industrial camera 45 and a vision system connected to the industrial camera 45, and the vision system photographs the workpiece through the industrial camera, identifies the bolt head, the bolt head center position and the bolt head angle, and then performs bolt head grouping and numbering on the identified bolt head.
in the present embodiment, as shown in fig. 1 to 4 and 10, the bolt heads are classified into groups 1, 2 and 3 according to the bolt head grouping, and the groups are:
group 1: 6M 12, 1-1, 1-2, 1-3, 1-4, 1-5, 1-6;
group 2: 4M 8, 2-1, 2-2, 2-3, 2-4;
Group 3: 4M 6, 3-1, 3-2, 3-3, 3-4.
in this embodiment, as shown in fig. 1 to 4 and 10, the path planning includes:
firstly, the control system carries out path planning according to the size sequence of threads or the size sequence of bolt heads, and screws bolts in a 1 st group, a 2 nd group and a 3 rd group in sequence;
secondly, the control system performs overall path planning on all threads or bolt heads in each group, and performs path planning according to a crossing mode:
in group 1, bolts are screwed according to the sequence of 1-1, 1-4, 1-3, 1-6, 1-2 and 1-5;
group 2, screwing bolts according to the sequence of 2-1, 2-3, 2-4 and 2-2;
and in group 3, bolts are screwed according to the sequence of 3-1, 3-3, 3-4 and 3-2.
In the present embodiment, as shown in fig. 1 to 4 and 10, the distance-controlling screwing step is as follows:
Firstly, the three-axis linkage positioning is carried out right above a 1-1 bolt, a Z axis 43 passes through a safety height and then descends to a screwing-up height, a spiral interpolation descends to screw up the bolt, the spiral descending interpolation is equal to a spiral line of the bolt, the XY axis 42 enables under the servo, when errors exist in visual identification, the hexagonal bolt head is effectively guaranteed to slide into a sleeve 46, and the XY axis 42 is effectively prevented from being stressed due to inaccurate positioning in the process of screwing the bolt; when the distance control triggering height is reached, the rotating shaft C shaft 44 is enabled to be below, the tightly attached sleeve 46 and the bolt head are loosened, and the sleeve 46 smoothly rises to the safety height;
then, the three shafts are positioned right above the bolts 1-4 in a linkage manner, and the bolts are screwed according to the distance control;
then, the three shafts are positioned right above the bolts 1-3 in a linkage manner, and the bolts are screwed according to the distance control;
then, the three shafts are positioned right above the bolts 1-6 in a linkage manner, and the bolts are screwed according to the distance control;
Then, the three shafts are positioned right above the bolts 1-2 in a linkage manner, and the bolts are screwed according to the distance control;
and finally, positioning the three shafts to be right above the bolts of 1-5 in a linkage manner, and screwing the bolts according to the distance control.
in this embodiment, as shown in fig. 1 to 4 and 10, the distance-controlled bolt screwing is adopted, and after a group of 6 bolts are screwed, the bolt screwing is controlled according to the cross-sequence torque, which includes the following steps:
the three shafts are positioned right above the bolt in a linkage manner, the Z shaft 43 passes through the safety height, the C shaft 44 directly rotates to the angle when the distance control is triggered, and then the C shaft descends to the height when the distance control is triggered, so that the sleeve 46 can be accurately sleeved in the bolt head; screwing the bolt by descending the spiral interpolation, wherein the spiral descending interpolation is equal to the spiral line of the bolt; the XY axis 42 is enabled under servo, and the stress of the XY axis 42 caused by inaccurate positioning is effectively avoided in the bolt screwing process; when the set torque is reached, the lower part of the rotating shaft C shaft 44 is enabled, the tightly attached sleeve 46 and the bolt head are loosened, so that the sleeve 46 can smoothly rise, and the Z shaft 43 rises to a safe height;
in the present embodiment, as shown in fig. 1 to 4 and 10, the bolt-screwing robot is a three-axis or more robot of a SCARA type, a rectangular coordinate robot type, or a six-axis joint robot type; the bolts are socket head, hex head, cross slot or slotted head, each having a mating socket 46 or wrench, which may be mounted at the end of a robot for execution.
In the above four embodiments, as shown in fig. 3, the safety height is very important, if the hexagonal head is screwed 1-1 and still in the sleeve, the Z axis does not rise to the safety height, and the collision occurs when the hexagonal head is directly positioned 1-4 in a three-axis linkage manner, and if the hexagonal head is screwed 1-5 in the group 1 and still in the sleeve, the hexagonal head does not rise to the safety height, and the collision occurs when the hexagonal head is directly positioned 2-1 in a three-axis linkage manner, and in order to ensure safety, all the up-and-down actions and the three-axis linkage positioning must pass through the safety height and reach the safety height.
in the above four embodiments, as shown in fig. 1 to 10, the robot for screwing the bolt is a robot of three or more axes of a SCARA type, a rectangular coordinate robot type, or a six-axis joint robot type, and the bolt is a hexagon socket head, a hexagon head, a cross slot, or a straight slot head, which are preferable solutions in the above four embodiments, and the robot of three or more axes including a mechanical type of six axes or other types is applicable to the present invention, and other types of bolts, threads, sleeves, and wrenches are also applicable to the present invention.
in summary, in the embodiments, the torque control bolt screwing method provided by the embodiments provides a plurality of methods for finding the positions of the threads and the positions of the bolt heads according to the structural characteristics of the product, so that the threads and the bolt heads can be quickly and accurately positioned, the distance control and the torque control bolt screwing methods can be used, and all the bolts can be screwed up in one operation according to different axial positions and quantities.
the above description is only for the purpose of illustrating the present invention and is not intended to limit the scope of the present invention, and any person skilled in the art can substitute or change the technical solution of the present invention and its conception within the scope of the present invention.
Claims (6)
1. a torque control bolt tightening method is characterized in that: including rectangular coordinate bolt machine, calibration plate and the control system who links to each other with rectangular coordinate bolt machine, be equipped with the triaxial linkage on the rectangular coordinate bolt machine, the triaxial linkage includes the X axle, sets up at the epaxial Y axle of X, sets up at the epaxial Z axle of Y and at the C axle of Z axle one end, including following step:
step 1: fixing the workpiece according to the calibration plate;
step 2: performing thread grouping and group numbering on the specifications of threads, position coordinates of the threads and the number of the threads on all workpieces, and performing intra-group numbering on each group, wherein the thread grouping comprises drawing identification grouping, teaching identification grouping and visual identification grouping;
or, grouping the bolt heads on all the workpieces and numbering the groups, and numbering the groups in groups;
and step 3: the control system performs overall path planning on all groups of threads or bolt heads;
and 4, step 4: manually and manually pre-screwing the bolt into a threaded hole on a workpiece;
and 5: zeroing the rectangular coordinate bolt machine;
Step 6: selecting a sleeve, sequentially grouping the threads or the bolt heads, screwing the bolts according to a cross sequence, adopting diagonal screwing of the bolts, and screwing twice: the distance control bolt screwing for the first time and the torque control bolt screwing for the second time;
dividing the screw threads or the bolt heads into a plurality of groups according to the screw thread groups or the bolt head groups, and numbering the screw threads or the bolt heads in each group, wherein all the numbers are different;
The path planning comprises the following steps:
firstly, a control system carries out path planning according to the size sequence of threads or the size sequence of bolt heads, and bolts are screwed on all groups according to the size sequence;
secondly, the control system numbers all the threads or bolt heads in each group and plans the whole path, and the numbers are as follows:
group 1: 1-1, 1-2, 1-3, 1-4, 1-5, 1-6;
group 2: 2-1, 2-2, 2-3, 2-4;
group 3: 3-1, 3-2, 3-3, 3-4;
The path planning is carried out according to a cross mode as follows:
in group 1, bolts are screwed according to the sequence of 1-1, 1-4, 1-3, 1-6, 1-2 and 1-5;
group 2, screwing bolts according to the sequence of 2-1, 2-3, 2-4 and 2-2;
group 3, screwing bolts according to the sequence of 3-1, 3-3, 3-4 and 3-2;
The distance control bolt screwing steps are as follows:
firstly, three-axis linkage positioning is carried out right above a bolt, a Z axis passes through a safe height, then the Z axis descends to a screwing-up height, a spiral interpolation descends to screw the bolt, the spiral interpolation of the spiral descending is equal to a spiral line of the bolt, the XY axis servo enables, when errors exist in visual identification positioning, the hexagonal bolt head is effectively guaranteed to slide into a sleeve, and XY axis stress caused by inaccurate positioning is effectively avoided in the process of screwing the bolt; when the distance control triggering height is reached, the rotation axis C is enabled to loose the tightly attached sleeve and the bolt head, so that the sleeve smoothly rises to the safe height, and the bolts in each group are sequentially screwed in a crossed manner;
The torque-controlled screwing bolt comprises the following steps:
after the distance control screwing bolts are adopted to screw each group of bolts, firstly, the three shafts are linked and positioned right above the bolts, the Z shaft passes through the safety height, the C shaft directly rotates to the angle when the distance control is triggered, and then the C shaft descends to the height when the distance control is triggered, so that the sleeve can be accurately sleeved in the bolt head; screwing the bolt by descending the spiral interpolation, wherein the spiral descending interpolation is equal to the spiral line of the bolt; the XY axis servo is enabled, and the XY axis stress caused by inaccurate positioning is effectively avoided in the bolt screwing process; when the set torque is reached, the C-axis of the rotating shaft is enabled to loosen the tightly attached sleeve and the bolt head, so that the sleeve can smoothly rise, the Z-axis rises to a safe height, and the bolts in each group are sequentially screwed in a crossed mode.
2. a torque control bolting method according to claim 1, characterised in that: teaching identification is divided into a group of manually operated once rectangular coordinate bolt machines, then a control system records a motion track, manual teaching is firstly carried out according to the sequence in the group, and then manual teaching is carried out according to the sequence of the group.
3. a torque control bolting method according to claim 1, characterised in that: the rectangular coordinate bolt machine is provided with an industrial camera and a vision system connected with the industrial camera, the industrial camera shoots a workpiece in the range of the calibration plate to generate images, and the vision identification groups the threads of a plurality of specifications identified by the vision system according to the images to group and number the threads.
4. a torque control bolting method according to claim 1, characterised in that: the industrial camera is arranged on the rectangular coordinate bolt machine, the visual system is connected with the industrial camera, the upper system and a workpiece drawing guided into the upper system are arranged on the drawing, a workpiece outline and mark points are arranged on the drawing, the upper system identifies all threads on the drawing, the visual system photographs the calibration plate and searches the workpiece outline and the mark points, the workpiece outline is used for determining the workpiece offset angle, the mark points are used for determining the offset position of a part, the upper system calculates the relation between a workpiece coordinate system and a drawing coordinate system through matrix operation to form a corresponding relation, and the visual identification groups the threads on the drawing into groups and numbers for the upper system.
5. A torque control bolting method according to claim 1, characterised in that: the rectangular coordinate bolt machine is provided with an industrial camera and a vision system connected with the industrial camera, the vision system photographs the workpiece through the industrial camera, identifies the bolt head, the center position of the bolt head and the angle of the bolt head, and then performs bolt head grouping and numbering on the identified bolt head.
6. a torque control bolting method according to claim 1, characterised in that: the mechanical arm for screwing the bolt is a mechanical arm with more than three shafts, such as an SCARA type mechanical arm, a rectangular coordinate mechanical arm type or a six-shaft joint mechanical arm type; the bolts are inner hexagon bolt heads, cross slot bolt heads or straight slot bolt heads, each bolt head is provided with a matched sleeve or a spanner, and the bolts can be arranged at the tail end of a mechanical arm to be executed.
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| CN109986323B (en) * | 2019-04-01 | 2020-12-25 | 南京睿易智能科技有限公司 | Flexible screw automatic feeding device 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 |
| DE102020209328A1 (en) * | 2020-07-23 | 2022-01-27 | Arnold Umformtechnik Gmbh & Co. Kg | Screw, usage, procedure and system |
| 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 |
| CN113635036B (en) * | 2021-08-13 | 2022-06-14 | 杭州徐睿机械有限公司 | Joint tightening device |
| 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 |