CN109483580A - Shaft forgings assembly cooperation robot system - Google Patents
Shaft forgings assembly cooperation robot system Download PDFInfo
- Publication number
- CN109483580A CN109483580A CN201811634945.3A CN201811634945A CN109483580A CN 109483580 A CN109483580 A CN 109483580A CN 201811634945 A CN201811634945 A CN 201811634945A CN 109483580 A CN109483580 A CN 109483580A
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- oil inlet
- oil return
- groove
- oil
- control valve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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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
- B23P19/02—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 connecting objects by press fit or for detaching same
- B23P19/027—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 connecting objects by press fit or for detaching same using hydraulic or pneumatic means
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Actuator (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of shaft forgings to assemble cooperation robot system, including workbench and mechanical arm, installation is equipped with the end effector for being assembled to shaft forgings in corresponding hole on mechanical arm, the side of workbench is equipped with the feed bin for storing shaft forgings, and workbench is equipped with the clamping tooling of the workpiece for clamping shaft forgings to be assembled, whether clamping has the first industrial camera of workpiece and the laser scanner for detecting position of human body and end effector position on real-time detection clamping tooling；End effector includes actuator ontology, and the front end of actuator ontology is equipped with assembly cylinder, and the piston rod for assembling cylinder, which extends, to be stretched out except the front end of actuator ontology；The rear end of actuator ontology is equipped with the valve group that movement is beaten for controlling assembly cylinder.Shaft forgings assembly cooperation robot system of the invention, can not only cooperate interaction with people, but also can satisfy clearance fit between axis and hole and matching requirements when being interference fitted.
Description
Technical field
The invention belongs to robotic technology fields, specifically assemble cooperation robot system for a kind of shaft forgings.
Background technique
Cooperate robot (collaborative robot) abbreviation cobot or co-robot, is design and the mankind common
There is the robot closely interacted in working space.Currently, most industrial robot is design automatic job or is having
Operation under the guiding of limit, therefore do not have to consider closely to interact with the mankind, it acts without the peace considered for the mankind around
Full guard, and these are all collaborative robot functions in need of consideration.
Shaft forgings are assembled, the prior art generally uses cylinder or hydraulic cylinder that directly shaft forgings are fitted in hole, such as
The Chinese patent of Publication No. CN206966980U discloses a kind of pin shaft assemble mechanism, specifically, its technical solution are as follows: including
Pedestal, bottom plate；It further include material fetching mechanism, feeding pressure mechanism, guiding mechanism, pusher；The feeding pressure mechanism include press cylinder,
The linear mould group of binder fixed block, binder；The press cylinder is fixed in the linear mould group of binder by binder pedestal；The binder
Cylinder pushes binder fixed block mobile by binder floating junction；The pusher include ejection cylinder, knock-pin fixed block,
The linear mould group of knock-pin, pusher；The ejection cylinder is fixed in the linear mould group of pusher；The ejection cylinder promotion is fixed on institute
The knock-pin stated on knock-pin fixed block is mobile；The guiding mechanism includes being oriented to linear mould group, guiding axis, motor；The electricity
Machine is fixed in the linear mould group of guiding, and the motor drives the guiding axis to rotate by transmission mechanism；The linear mould of binder
Group, material fetching mechanism, the linear mould group of guiding, the linear mould group of pusher are fixed on the bottom plate, the pusher and guiding mechanism
Positioned at the two sides of feeding pressure mechanism；The bottom plate is fixed on the base by displacement mechanism.
Pin shaft is directly assembled in hole by the pin shaft assemble mechanism using cylinder, for clearance fit between pin shaft and hole
Situation can satisfy the requirement of assembly, and still, if pin shaft and hole are interference fitted, which is unable to satisfy dress
With requirement.When axis and hole are interference fitted, generally assembled by the way of artificial in the prior art, when manual assembly, one
As gradually axis is assembled in hole by the way of beating.Similarly, for the robot that cooperates, existing peg-in-hole assembly mechanism
Assembly method can not fully meet requirement, thus need a kind of new end effector to simulate artificial beating type dress
With mode.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of shaft forgings to assemble cooperation robot system, it not only can be with people
Cooperation interaction, and can satisfy clearance fit between axis and hole and matching requirements when being interference fitted.
In order to achieve the above objectives, the invention provides the following technical scheme:
A kind of shaft forgings assembly cooperation robot system, including workbench and mechanical arm are installed on the mechanical arm and are equipped with
The side of end effector for being assembled to shaft forgings in corresponding hole, the workbench is equipped with for storing shaft forgings
Feed bin, the workbench are equipped with the clamping tooling of the workpiece for clamping shaft forgings to be assembled, for filling described in real-time detection
Press from both sides in tooling whether clamping has the first industrial camera of workpiece and the laser for detecting position of human body and end effector position
Scanner；
The end effector includes actuator ontology, and the front end of the actuator ontology is equipped with assembly cylinder, the dress
Piston rod with cylinder, which extends, to be stretched out except the front end of the actuator ontology；The rear end of the actuator ontology is equipped with for controlling
Make the valve group that the assembly cylinder beats movement；
The valve group includes two and beats control valve, and the control valve of beating includes valve body, and the valve body inner sleeve is installed with
Rotate the spool of cooperation；
The valve body be equipped with the first oil inlet, the second oil inlet, the first oil return opening and the second oil return opening, described first into
The axis of hydraulic fluid port and the second oil inlet is respectively positioned on the same radial section of the valve body, first oil return opening and second time
The axis of hydraulic fluid port is respectively positioned on the same radial section of the valve body；
The spool includes poppet shaft, and the poppet shaft is equipped with the first valve core housing and the second valve core housing, first valve
Annular groove is respectively equipped between core retainer plate and the second valve core housing and the poppet shaft；First valve core housing is equipped with the first oil inlet ditch
Slot and the second oil inlet groove, and when the first oil inlet groove is connected with first oil inlet, the second oil inlet ditch
Slot is connected with second oil inlet；Second valve core housing is equipped with the first oil return groove and the second oil return groove, and works as
When the first oil return groove is connected with first oil return opening, the second oil return groove is connected with second oil return opening
It is logical；And when being connected between the first oil inlet groove and first oil inlet, the first oil return groove and described first
Oil return opening it is separated；When being connected between the first oil return groove and first oil return opening, the first oil inlet groove
It is separated with first oil inlet；
It is beaten in control valve described in two, the first oil inlet groove and described first of control valve is beaten described in one of them
It beats when being connected between oil inlet, described in another and is connected between the first oil return groove of control valve and first oil return opening；
It beats described in one of them when being connected between the first oil return groove of control valve and first oil return opening, beats described in another
It beats between the first oil inlet groove and first oil inlet of control valve and is connected to；
The oil inlet passage that the first oil inlet of control valve is beaten described in being used to be connected to two is equipped in the actuator ontology
With the drainback passage of the first oil return opening for beating control valve described in being connected to two；The of control valve is beaten described in one of them
Two oil inlets and the second oil return opening are connected with the rodless cavity of the assembly cylinder, and the second of control valve is beaten described in another
Oil inlet and the second oil return opening are connected with the rod chamber of the assembly cylinder；
One end of the spool is equipped with spline, and the spline inner sleeve is installed with the biography being slidably matched with its single-degree-of-freedom
Lever, the interior installation of the actuator ontology are equipped with the straight-line electric for driving the spool to move axially along the drive rod
Machine, the interior driving mechanism being equipped with for driving two drive rods to rotate synchronously of the actuator ontology.
Further, the driving mechanism includes being fixedly mounted on the intrinsic decelerating motor of the actuator, the deceleration
The output shaft of motor is equipped with driving gear, is respectively equipped with the passive tooth engaged with the driving gear on two drive rods
Wheel, and two driven gears are equal with the transmission ratio between the driving gear.
Further, be equipped in the actuator ontology rodless cavity for being connected to the assembly cylinder and one of them described in
First communicating passage of the second oil inlet and the second oil return opening of beating control valve has bar with for being connected to the assembly cylinder
Chamber and another described in beat the second oil inlet of control valve and the second communicating passage of the second oil return opening.
Further, the rear end of the spool is arranged in the spline；The periphery wall of the spline be equipped with it is radial to
The collar of outer extension, the output shaft of the linear motor are equipped with the shift fork cooperated with the collar.
Further, the rear end of the actuator ontology is equipped with rear end cap, the rear end face of the rear end cap be equipped with for
The connector of cooperation robot connection.
Further, the front end of the actuator ontology is equipped with drive end bearing bracket, on the drive end bearing bracket with the work of the assembly cylinder
Stopper rod is correspondingly provided with through-hole.
Further, the side of the drive end bearing bracket, which is fixedly mounted, is equipped with finger cylinder, on two fingers of the finger cylinder
Installation respectively is equipped with clamping limb, two clamping limbs it is opposite be correspondingly provided with holding tank on one side, and when two holding tanks
The holding holes coaxial and for clamping shaft forgings with the piston rod of the assembly cylinder are formed when closure.
Further, second be equipped with for acquiring shaft forgings assembly image in real time is fixedly mounted in the other side of the drive end bearing bracket
Industrial camera.
Further, installation is equipped with beating head on the piston rod of the assembly cylinder.
Further, the axis co-axial for belonging to same first oil inlet and the second oil inlet for beating control valve, belongs to
In the axis co-axial of same first oil return opening for beating control valve and the second oil return opening, and belong to same described beat
The axis of the axis of first oil inlet of control valve and first oil return opening is located on the same axial cross section of the valve body；
The first oil inlet groove and the second oil inlet groove annular be arranged at first valve core housing it is same in the radial direction, institute
State the first oil return groove and the second oil return groove annular be uniformly arranged the second valve core housing it is same in the radial direction, and in institute
It states on the axial view direction of spool, the radial direction and described first where the first oil inlet groove and the second oil inlet groove
Radial direction where oil return groove and the second oil return groove is vertical.
The beneficial effects of the present invention are:
The cooperating process of shaft forgings assembly cooperation robot system of the invention is as follows: when the first industrial camera detects dress
When clamping has workpiece in folder tooling, mechanical arm acts and clamps the shaft forgings being placed in feed bin, and will using end effector
The shaft forgings are assembled in workpiece；After the assembly is completed, operator removes workpiece to shaft forgings, and the first industrial camera detects at this time
Non- clamping workpiece, mechanical arm are failure to actuate on to clamping tooling；The clamping workpiece of new shaft forgings to be assembled is arrived to operator
After on clamping tooling, the first industrial camera detects that clamping has workpiece on clamping tooling, repeats shaft forgings assembly movement；By
The position that laser scanner detects human body and mechanical arm is set on workbench, when operator and mechanical arm and end effector it
Between spacing be less than given threshold when, mechanical arm movement avoid position of human body, prevent from damaging operator；
Specifically, the principle of end effector is as follows: adjusting two spools for beating control valve respectively using linear motor
Axial movement, and then two area of passage sizes beaten between the first oil inlet groove of control valve and the first oil inlet are adjusted,
And the same area of passage beaten between the second oil inlet groove of control valve and the second oil inlet, the first oil return groove and first
The area of passage between area of passage and the second oil return groove and the second oil return opening between oil return opening with the first oil inlet ditch
Area of passage between slot and the first oil inlet is equal (hereinafter referred to as area of passage)；In this way, two are beaten the overcurrent of control valve
The technical purpose individually adjusted may be implemented in area；
When shaft forgings and hole interference fit need to beat shaft forgings assembly when, using linear motor adjust the second oil inlet and
The area of passage A for beating control valve that second oil return opening is connected with the rodless cavity of assembly cylinder1With rodless cavity cross-sectional area S1It
Between ratio be greater than the overcurrent for beating control valve that the second oil inlet and the second oil return opening are connected with the rod chamber of assembly cylinder
Area A2With rod chamber cross-sectional area S2Between ratio, i.e. A1/S1> A2/(S1-S0), wherein S2=S1-S0, S0For piston rod
Cross-sectional area, in this way, when the first oil inlet for beating control valve being connected with rodless cavity is connected with the first oil inlet groove,
The first oil return opening for beating control valve being connected with rod chamber is connected with the first oil return groove, assembles the rodless cavity of cylinder at this time
Oil inlet, rod chamber oil return, piston rod move forward, and beat shaft forgings；Driving mechanism drives valve core rotation, is connected when with rodless cavity
The first oil return opening for beating control valve when being connected with the first oil return groove, the first of the rotation control hair being connected with rod chamber
Oil inlet is connected with the first oil inlet groove, assembles the rodless cavity oil return of cylinder, rod chamber oil inlet at this time, and piston rod moves back
Dynamic, i.e., piston rod bounces back after once beating；And the stroke that piston rod is beaten forward is greater than the stroke to bounce back, in this way, driving machine
Structure driving spool continues to rotate, and piston rod can beat forward shaft forgings again and again, until shaft forgings are completely assembled to corresponding hole
It is interior, realize the technical purpose of shaft forgings beating type assembly；
When shaft forgings and interporal lacuna cooperate, directly control the first oil inlet for beating control valve being connected with rodless cavity and
First oil inlet groove is connected, and the first oil return opening for beating control valve being connected with rod chamber is connected with the first oil return groove,
The rodless cavity oil inlet of cylinder, rod chamber oil return are assembled at this time, and piston rod moves forward, directly shaft forgings are assembled in hole；When
So, it can also be assembled at this time using beating type, it is suitable when principle is with interference fit, it is not repeated；
In summary, shaft forgings of the invention assembly cooperation robot system, may be implemented the technology of man-machine coordination operation
Purpose, and the assembly of the shaft forgings of clearance fit can be met as traditional pivot pin assemble mechanism, and pass through setting valve group
Control assembly cylinder does beating type movement, and also analog manually beats movement, meets the technology of the shaft forgings assembly of interference fit
Purpose.
Detailed description of the invention
In order to keep the purpose of the present invention, technical scheme and beneficial effects clearer, the present invention provides following attached drawing and carries out
Illustrate:
Fig. 1 is the structural schematic diagram of shaft forgings of the present invention assembly cooperation robot system embodiment；
Fig. 2 is the structural schematic diagram of end effector；
Fig. 3 is the A detail drawing of Fig. 2.
Description of symbols:
1- actuator ontology；2- assembles cylinder；3- beats control valve；4- valve body；5- spool；The first oil inlet of 6-；7-
Two oil inlets；The first oil return opening of 8-；The second oil return opening of 9-；The first valve core housing of 10-；The second valve core housing of 11-；12- oil inlet passage；
13- drainback passage；14- spline；15- drive rod；16- linear motor；17- decelerating motor；18- driving gear；19- passive tooth
Wheel；The first communicating passage of 20-；The second communicating passage of 21-；22- collar；23- shift fork；24- rear end cap；25- connector；Before 26-
End cap；27- finger cylinder；28- clamping limb；29- beating head；30- workbench；31- mechanical arm；32- feed bin；33- clamping tooling；
The first industrial camera of 34-；35- laser scanner；The second industrial camera of 36-；37- end effector；Shaft forgings.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, so that those skilled in the art can be with
It better understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
As shown in Figure 1, for the structural schematic diagram of shaft forgings of the present invention assembly cooperation robot system embodiment.The present embodiment
Shaft forgings assembly cooperation robot system, including workbench 30 and mechanical arm 31, installation is equipped with for by axis on mechanical arm 31
Like members 38 is assembled to the end effector 37 in corresponding hole, and the side of workbench 30 is equipped with the feed bin for storing shaft forgings
32, workbench 30 is equipped with the clamping tooling 33 of the workpiece for clamping shaft forgings to be assembled, is used for real-time detection clamping tooling
Whether clamping has the first industrial camera 34 of workpiece and the laser for detecting position of human body and end effector position to sweep on 33
Retouch instrument 35.The laser scanner 35 of the present embodiment on 30 scattering device be it is multiple, to avoid exist scan dead angle, the present embodiment
Laser scanner 35 be set as two, and be located at the two sides of workbench 30.
The end effector of the present embodiment includes actuator ontology 1, and the front end of actuator ontology 1 is equipped with assembly cylinder 2, dress
Piston rod with cylinder 2, which extends, to be stretched out except the front end of actuator ontology 1, is assembled to install to be equipped on the piston rod of cylinder 2 and be beaten
First 29, realize the technical purpose that shaft forgings are beaten with assembly.The rear end of actuator ontology 1 is equipped with does for controlling assembly cylinder 2
Beat the valve group of movement.Valve group include two beat control valve 3, beat control valve 3 include valve body 4,4 inner sleeve of valve body be installed with
The spool 5 of its rotatable engagement.
Valve body 4 is equipped with the first oil inlet 6, the second oil inlet 7, the first oil return opening 8 and the second oil return opening 9, the first oil inlet
The axis of mouth 6 and the second oil inlet 7 is respectively positioned on the same radial section of valve body 4, the first oil return opening 8 and the second oil return opening 9
Axis be respectively positioned on the same radial section of valve body 4.
Spool 5 includes poppet shaft, and poppet shaft is equipped with the first valve core housing 10 and the second valve core housing 11,10 He of the first valve core housing
Annular groove is respectively equipped between second valve core housing 11 and poppet shaft；First valve core housing 10 be equipped with the first oil inlet groove and second into
Oil groove, and when the first oil inlet groove is connected with the first oil inlet 6, the second oil inlet groove is connected with the second oil inlet 7；
Second valve core housing 11 is equipped with the first oil return groove and the second oil return groove, and when the first oil return groove and 8 phase of the first oil return opening
When connection, the second oil return groove is connected with the second oil return opening 9；And works as and be connected between the first oil inlet groove and the first oil inlet 6
When, the first oil return groove is separated with the first oil return opening 8；When being connected between the first oil return groove and the first oil return opening 8, the
One oil inlet groove is separated with the first oil inlet 6.
Two are beaten in control valve 3, when one of them beat control valve 3 the first oil inlet groove and the first oil inlet 6 it
Between when being connected to, another is beaten and is connected between the first oil return groove of control valve 3 and the first oil return opening 8；When one of them is beaten
When being connected between the first oil return groove of control valve 3 and the first oil return opening 8, another beats the first oil inlet groove of control valve 3
It is connected between the first oil inlet 6.
It is equipped with the oil inlet passage 12 for being connected to the first oil inlet 6 that two are beaten control valve 3 in actuator ontology 1 and uses
The drainback passage 13 of the first oil return opening 8 of control valve 3 is beaten in connection two；One of them beats the second oil inlet of control valve 3
Mouth 7 and the second oil return opening 9 are connected with the rodless cavity of assembly cylinder 2, another beats 7 He of the second oil inlet of control valve 3
Second oil return opening 9 is connected with the rod chamber of assembly cylinder 2.It is used for specifically, being equipped in the actuator ontology 1 of the present embodiment
The rodless cavity of connection assembly cylinder 2 beats the second oil inlet 7 and the first company of the second oil return opening 9 of control valve 3 with one of them
Circulation passage 20 and rod chamber for being connected to assembly cylinder 2 beat with another the second oil inlet 7 and the second oil return of control valve 3
Second communicating passage 21 of mouth 9.
One end of spool 5 is equipped with spline 14, and 14 inner sleeve of spline is installed with the transmission being slidably matched with its single-degree-of-freedom
Bar 15, the interior installation of actuator ontology 1 are equipped with the linear motor 16 for driving spool 5 to move axially along drive rod 15, execute
The driving mechanism for driving two drive rods 15 to rotate synchronously is equipped in device ontology 1.The driving mechanism of the present embodiment includes solid
Decelerating motor 17 of the Dingan County in actuator ontology 1, the output shaft of decelerating motor 17 are equipped with driving gear 18, two transmissions
The driven gear 19 engaged with driving gear 18 is respectively equipped on bar 15, and between two driven gears 19 and driving gear 18
Transmission ratio is equal.Specifically, the rear end of spool 5 is arranged in the spline 14 of the present embodiment, the periphery wall of spline 14 is equipped with
The collar 22 to extend radially outwardly, the output shaft of linear motor 16 are equipped with the shift fork 23 cooperated with collar, and linear motor 16 drives
Dynamic shift fork 23 and then drives spool 5 to move along its axis along the axial movement of spool 5, realizes and adjusts the first oil inlet and the
The technical purpose of area of passage size between one oil inlet groove.
Further, the rear end of actuator ontology 1 is equipped with rear end cap 24, the rear end face of rear end cap 24 be equipped with for cooperate
The connector 25 of robot connection.The front end of actuator ontology 1 is equipped with drive end bearing bracket 26, on drive end bearing bracket 26 with the work of assembly cylinder 2
Stopper rod is correspondingly provided with through-hole.It is fixedly mounted on the drive end bearing bracket 26 of the present embodiment and is equipped with finger cylinder 27, two of finger cylinder 27
Installation is equipped with clamping limb 28 respectively on finger, two clamping limbs 28 it is opposite be correspondingly provided with holding tank on one side, and when two clampings
The holding holes coaxial and for clamping shaft forgings with the piston rod of assembly cylinder 2 are formed when slot is closed, for clamping shaft forgings, and
In shaft forgings assembling process, the guiding role being axially moved to shaft forgings is realized.It is fixedly mounted to be equipped on drive end bearing bracket 26 and be used for
Second industrial camera 36 of acquisition shaft forgings assembly image in real time, for detecting shaft forgings assembled state.
Specifically, the present embodiment belongs to the axis of same the first oil inlet 6 for beating control valve 3 and the second oil inlet 7
It is coaxial, belong to the axis co-axial of same the first oil return opening 8 for beating control valve 3 and the second oil return opening 9, and belong to same beat
The axis of the first oil inlet 6 and the axis of the first oil return opening 8 for beating control valve 3 are located on the same axial cross section of valve body 4；The
One oil inlet groove and the second oil inlet groove annular be arranged at the first valve core housing 10 it is same in the radial direction, the first oil return ditch
Slot and the second oil return groove annular be uniformly arranged the second valve core housing 11 it is same in the radial direction, and in the axial direction of spool 5
Radial direction and the first oil return groove and the second oil return ditch on view direction, where the first oil inlet groove and the second oil inlet groove
Radial direction where slot is vertical, in this way, the first oil inlet and the second oil inlet can be connected to during spool 5 rotates one week
Twice, similarly, the first oil return opening and the second oil return opening can also be connected to twice, more efficient.
The cooperating process of the shaft forgings assembly cooperation robot system of the present embodiment is as follows: when the first industrial camera detects
When clamping has workpiece on clamping tooling, mechanical arm acts and clamps the shaft forgings being placed in feed bin, and utilizes end effector
The shaft forgings are assembled in workpiece；After the assembly is completed, operator removes workpiece to shaft forgings, and the first industrial camera is examined at this time
Non- clamping workpiece, mechanical arm on clamping tooling is measured to be failure to actuate；To operator by the clamping workpiece of new shaft forgings to be assembled
After on to clamping tooling, the first industrial camera detects that clamping has workpiece on clamping tooling, repeats shaft forgings assembly movement；Pass through
Setting laser scanner detects the position of human body and mechanical arm on the table, as operator and mechanical arm and end effector
Between spacing be less than given threshold when, mechanical arm movement avoid position of human body, prevent from damaging operator；
Specifically, the principle of end effector is as follows: adjusting two spools for beating control valve respectively using linear motor
Axial movement, and then two area of passage sizes beaten between the first oil inlet groove of control valve and the first oil inlet are adjusted,
And the same area of passage beaten between the second oil inlet groove of control valve and the second oil inlet, the first oil return groove and first
The area of passage between area of passage and the second oil return groove and the second oil return opening between oil return opening with the first oil inlet ditch
Area of passage between slot and the first oil inlet is equal (hereinafter referred to as area of passage)；In this way, two are beaten the overcurrent of control valve
The technical purpose individually adjusted may be implemented in area；
When shaft forgings and hole interference fit need to beat shaft forgings assembly when, using linear motor adjust the second oil inlet and
The area of passage A for beating control valve that second oil return opening is connected with the rodless cavity of assembly cylinder1With rodless cavity cross-sectional area S1It
Between ratio be greater than the overcurrent for beating control valve that the second oil inlet and the second oil return opening are connected with the rod chamber of assembly cylinder
Area A2With rod chamber cross-sectional area S2Between ratio, i.e. A1/S1> A2/(S1-S0), wherein S2=S1-S0, S0For piston rod
Cross-sectional area, in this way, when the first oil inlet for beating control valve being connected with rodless cavity is connected with the first oil inlet groove,
The first oil return opening for beating control valve being connected with rod chamber is connected with the first oil return groove, assembles the rodless cavity of cylinder at this time
Oil inlet, rod chamber oil return, piston rod move forward, and beat shaft forgings；Driving mechanism drives valve core rotation, is connected when with rodless cavity
The first oil return opening for beating control valve when being connected with the first oil return groove, the first of the rotation control hair being connected with rod chamber
Oil inlet is connected with the first oil inlet groove, assembles the rodless cavity oil return of cylinder, rod chamber oil inlet at this time, and piston rod moves back
Dynamic, i.e., piston rod bounces back after once beating；And the stroke that piston rod is beaten forward is greater than the stroke to bounce back, in this way, driving machine
Structure driving spool continues to rotate, and piston rod can beat forward shaft forgings again and again, until shaft forgings are completely assembled to corresponding hole
It is interior, realize the technical purpose of shaft forgings beating type assembly；
When shaft forgings and interporal lacuna cooperate, directly control the first oil inlet for beating control valve being connected with rodless cavity and
First oil inlet groove is connected, and the first oil return opening for beating control valve being connected with rod chamber is connected with the first oil return groove,
The rodless cavity oil inlet of cylinder, rod chamber oil return are assembled at this time, and piston rod moves forward, directly shaft forgings are assembled in hole；When
So, it can also be assembled at this time using beating type, it is suitable when principle is with interference fit, it is not repeated；
In summary, the shaft forgings assembly cooperation robot system of the present embodiment, may be implemented the skill of man-machine coordination operation
Art purpose, and the assembly of the shaft forgings of clearance fit can be met as traditional pivot pin assemble mechanism, and pass through setting valve
Group control assembly cylinder does beating type movement, and also analog manually beats movement, meets the skill of the shaft forgings assembly of interference fit
Art purpose.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art's made equivalent substitute or transformation on the basis of the present invention, in the present invention
Protection scope within.Protection scope of the present invention is subject to claims.
Claims (10)
1. a kind of shaft forgings assembly cooperation robot system, including workbench (30) and mechanical arm (31), the mechanical arm (31)
Upper installation is equipped with the end effector for being assembled to shaft forgings in corresponding hole, and the side of the workbench (30), which is equipped with, to be used
In the feed bin (32) of storage shaft forgings, the workbench (30) is equipped with the clamping work of the workpiece for clamping shaft forgings to be assembled
Fill (33), whether clamping has the first industrial camera (34) of workpiece and for examining on clamping tooling (33) described in real-time detection
Survey the laser scanner (35) of position of human body and end effector position；It is characterized by:
The end effector includes actuator ontology (1), and the front end of the actuator ontology (1) is equipped with assembly cylinder (2), institute
The piston rod for stating assembly cylinder (2), which extends, to be stretched out except the front end of the actuator ontology (1)；The actuator ontology (1)
Rear end is equipped with the valve group that movement is beaten for controlling assembly cylinder (2)；
The valve group includes two and beats control valve (3), and the control valve (3) of beating includes valve body (4), in the valve body (4)
Set is installed with the spool (5) for rotating cooperation；
The valve body (4) is equipped with the first oil inlet (6), the second oil inlet (7), the first oil return opening (8) and the second oil return opening
(9), the axis of first oil inlet (6) and the second oil inlet (7) is respectively positioned on the same radial section of the valve body (4)
On, the axis of first oil return opening (8) and the second oil return opening (9) is respectively positioned on the same radial section of the valve body (4)；
The spool (5) includes poppet shaft, and the poppet shaft is equipped with the first valve core housing (10) and the second valve core housing (11), described
Annular groove is respectively equipped between first valve core housing (10) and the second valve core housing (11) and the poppet shaft；First valve core housing
(10) it is equipped with the first oil inlet groove and the second oil inlet groove, and when the first oil inlet groove and first oil inlet (6)
When being connected, the second oil inlet groove is connected with second oil inlet (7)；Second valve core housing (11) is equipped with the
One oil return groove and the second oil return groove, and when the first oil return groove is connected with first oil return opening (8), it is described
Second oil return groove is connected with second oil return opening (9)；And when the first oil inlet groove and first oil inlet (6)
Between when being connected to, the first oil return groove is separated with first oil return opening (8)；When the first oil return groove and institute
It states when being connected between the first oil return opening (8), the first oil inlet groove is separated with first oil inlet (6)；
It is beaten described in two in control valve (3), the first oil inlet groove and described the of control valve (3) is beaten described in one of them
When being connected between one oil inlet (6), the first oil return groove and first oil return opening of control valve (3) are beaten described in another
(8) it is connected between；It beats between the first oil return groove of control valve (3) and first oil return opening (8) described in one of them
It beats when connection, described in another and is connected between the first oil inlet groove of control valve (3) and first oil inlet (6)；
The oil inlet that the first oil inlet (6) of control valve (3) is beaten described in being used to be connected to two is equipped in the actuator ontology (1)
The drainback passage (13) in channel (12) and the first oil return opening (8) for beating control valve (3) described in being connected to two；One of them
The rodless cavity phase of second oil inlet (7) for beating control valve (3) and the second oil return opening (9) with assembly cylinder (2)
Connection, beaten described in another control valve (3) the second oil inlet (7) and the second oil return opening (9) with the assembly cylinder (2)
Rod chamber be connected；
One end of the spool (5) is equipped with spline (14), and spline (14) inner sleeve is installed with to be slided with its single-degree-of-freedom
The drive rod (15) of cooperation, the interior installation of the actuator ontology (1) are equipped with for driving the spool (5) along the drive rod
(15) linear motor (16) moved axially, the actuator ontology (1) is interior to be equipped with for driving two drive rods (15)
The driving mechanism of synchronous rotation.
2. shaft forgings according to claim 1 assembly cooperation robot system, it is characterised in that: the driving mechanism includes
The output shaft of the decelerating motor (17) being fixedly mounted in the actuator ontology (1), the decelerating motor (17) is equipped with master
Moving gear (18) is respectively equipped with the driven gear (19) engaged with the driving gear (18) on two drive rods (15),
And two driven gears (19) are equal with the transmission ratio between the driving gear (18).
3. shaft forgings assembly cooperation robot system according to claim 1, it is characterised in that: the actuator ontology
(1) it is equipped with the rodless cavity for being connected to assembly cylinder (2) in and beats the second oil inlet of control valve (3) described in one of them
The first communicating passage (20) of mouthful (7) and the second oil return opening (9) and for be connected to the rod chamber for assembling cylinder (2) with it is another
The second communicating passage (21) of a second oil inlet (7) and the second oil return opening (9) for beating control valve (3).
4. shaft forgings assembly cooperation robot system according to claim 1, it is characterised in that: the spline (14) sets
Set the rear end in the spool (5)；The periphery wall of the spline (14) is equipped with the collar (22) to extend radially outwardly, described
The output shaft of linear motor (16) is equipped with the shift fork (23) cooperated with the collar.
5. shaft forgings assembly cooperation robot system according to claim 1, it is characterised in that: the actuator ontology
(1) rear end is equipped with rear end cap (24), and the rear end face of the rear end cap (24) is equipped with the company for connecting with cooperation robot
Connector (25).
6. shaft forgings assembly cooperation robot system according to claim 1, it is characterised in that: the actuator ontology
(1) front end is equipped with drive end bearing bracket (26), is correspondingly provided with the piston rod of assembly cylinder (2) on the drive end bearing bracket (26) logical
Hole.
7. shaft forgings assembly cooperation robot system according to claim 6, it is characterised in that: the drive end bearing bracket (26)
Side, which is fixedly mounted, is equipped with finger cylinder (27), and installation is equipped with clamping limb respectively on two fingers of the finger cylinder (27)
(28), what two clamping limbs (28) were opposite is correspondingly provided with holding tank on one side, and is formed when two holding tanks are closed
The holding holes coaxial and for clamping shaft forgings with the piston rod of assembly cylinder (2).
8. shaft forgings assembly cooperation robot system according to claim 7, it is characterised in that: the drive end bearing bracket (26)
The second industrial camera (36) being equipped with for acquiring shaft forgings assembly image in real time is fixedly mounted in the other side.
9. shaft forgings assembly cooperation robot system according to claim 1, it is characterised in that: the assembly cylinder (2)
Piston rod on installation be equipped with beating head (29).
10. -9 described in any item shaft forgings assembly cooperation robot systems according to claim 1, it is characterised in that: belong to same
The first oil inlet (6) of control valve (3) and the axis co-axial of the second oil inlet (7) are beaten described in one, are belonged to same described
The first oil return opening (8) of control valve (3) and the axis co-axial of the second oil return opening (9) are beaten, and belongs to and same described beats control
The axis of the first oil inlet (6) of valve (3) processed and the axis of first oil return opening (8) are located at the same of the valve body (4)
On axial cross section；The first oil inlet groove and the second oil inlet groove annular are arranged at the same of first valve core housing (10)
It is a in the radial direction, the first oil return groove and the second oil return groove annular are uniformly arranged in the same of the second valve core housing (11)
It is a in the radial direction, and on the axial view direction of the spool (5), the first oil inlet groove and the second oil inlet groove institute
Radial direction it is vertical with the radial direction where the first oil return groove and the second oil return groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811634945.3A CN109483580B (en) | 2018-12-29 | 2018-12-29 | Shaft part assembling cooperative robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811634945.3A CN109483580B (en) | 2018-12-29 | 2018-12-29 | Shaft part assembling cooperative robot system |
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| CN109483580A true CN109483580A (en) | 2019-03-19 |
| CN109483580B CN109483580B (en) | 2020-06-30 |
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| CN113043010A (en) * | 2021-04-01 | 2021-06-29 | 中国工程物理研究院机械制造工艺研究所 | Automatic assembling device and method for shaft hole with large length-diameter ratio |
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| Publication number | Publication date |
|---|---|
| CN109483580B (en) | 2020-06-30 |
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