CN114799809A - Automatic feeding system and method for small worm assembly - Google Patents
Automatic feeding system and method for small worm assembly Download PDFInfo
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- CN114799809A CN114799809A CN202110070938.0A CN202110070938A CN114799809A CN 114799809 A CN114799809 A CN 114799809A CN 202110070938 A CN202110070938 A CN 202110070938A CN 114799809 A CN114799809 A CN 114799809A
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- material taking
- clamping jaw
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- small worm
- small
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000000463 material Substances 0.000 claims abstract description 81
- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 239000000523 sample Substances 0.000 claims abstract description 17
- 238000013519 translation Methods 0.000 claims abstract description 13
- 238000012546 transfer Methods 0.000 claims description 28
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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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
-
- 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
- B23P19/001—Article feeders for assembling machines
-
- 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
- B23P19/001—Article feeders for assembling machines
- B23P19/002—Article feeders for assembling machines orientating the articles
-
- 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
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses an automatic feeding system of a small worm assembly, which comprises a conveying mechanism, a material taking mechanism, a press-fitting press and a PLC (programmable logic controller), wherein the material taking mechanism comprises a material taking clamping jaw, a rotary servo shaft for driving the material taking clamping jaw to rotate, a lifting servo shaft for driving the material taking clamping jaw to lift, a translation servo shaft for driving the material taking clamping jaw to translate left and right and a vision camera for detecting a support bearing positioning salient point of the small worm assembly, a pair of contact type telescopic probes are arranged on the material taking clamping jaw, and slots for inserting the probes are further formed in two sides of the support bearing positioning salient point of the small worm assembly. The invention also discloses a feeding method of the small worm assembly. According to the invention, the angle of the material taking clamping jaw is controlled by detecting the positioning salient point of the support bearing through the vision camera, and the support bearing is positioned again through the contact type telescopic probe of the material taking clamping jaw, so that closed-loop control is realized, and the positioning accuracy is improved.
Description
Technical Field
The invention relates to an assembly technology of an automobile steering engine, in particular to an automatic feeding system and a feeding method of a small worm assembly.
Background
The assembly process of the worm small assembly of the servo unit of the automobile steering gear is as follows:
after the servo housing is preassembled, the gearbox assembly is required. The first step of gear box assembly is to install the worm small assembly. Referring to fig. 1, the assembly relationship between the worm gear sub-assembly 1 and the servo housing 2 is relatively simple, that is, the support bearing 3 of the worm gear sub-assembly 1 is required to be installed into the servo housing 2 at a specified angle and to reach a specified position.
The step of assembling the worm sub-assembly to the servo housing is carried out by press-fitting the worm sub-assembly to the servo housing by a machine tool. The bracket bearing of the worm small assembly is shown in fig. 2, and a design of a convex point 4 is arranged on the lower plane of the bracket bearing 3, so that the purpose is to match the small assembly 1 with a groove 5 in the shell 2 in fig. 3 after the small assembly 1 is pressed, and the problem that the small assembly 1 rotates to cause unqualified screwing when an adjusting nut is screwed at a subsequent station is avoided. Therefore, before the small worm assembly 1 is pressed, the machine tool needs to perform secondary positioning on the bracket bearing 3 of the small worm assembly 1.
In order to ensure the secondary positioning of a machine tool on a support bearing, the traditional feeding mode (the feeding process is the feeding process) of the small worm assembly is that firstly, an operator manually feeds the small worm assembly onto a pressure head 7 of a press-mounting press 6; and then the small worm assembly is rotated by the stepping motor 8, the positioning salient points on the support bearing are detected by the sensor, and after the sensor detects the salient points, the stepping motor 8 stops rotating to position the angle of the support bearing, as shown in figure 4.
However, because the positioning mode is semi-closed loop control, the risk of positioning failure exists, and if the positioning failure occurs, the worm is damaged in the process of press mounting.
Disclosure of Invention
In order to solve the above problems in the prior art, the invention provides an automatic feeding system and a feeding method for a small worm assembly, which can realize automatic feeding of the small worm assembly and effectively position the small worm assembly.
In one aspect, the invention provides an automatic feeding system of a small worm assembly, comprising:
the conveying mechanism comprises a lower material taking circulating conveying belt, a material taking circulating conveying belt and a plurality of trays which run on the conveying belt and are used for bearing the small worm assembly;
the material taking mechanism is arranged at a material taking position on one side of the conveying mechanism and comprises a material taking clamping jaw, a rotary servo shaft for driving the material taking clamping jaw to rotate, a lifting servo shaft for driving the material taking clamping jaw to lift, a translation servo shaft for driving the material taking clamping jaw to translate left and right and a vision camera for detecting a support bearing positioning convex point of the small worm assembly, wherein a pair of contact type telescopic probes is arranged on the material taking clamping jaw;
the press-fitting press is arranged on one side of the material taking mechanism and comprises a magnetic pressure head, and a positioning pin is arranged on the lower end face of the pressure head;
the PLC is electrically connected with the conveying mechanism, the material taking mechanism and the press-fitting press respectively;
and slots for inserting probes are further formed in two sides of the support bearing positioning salient points of the small worm assembly, and positioning holes matched with the positioning pins are further formed in the upper end face of the support bearing.
The material taking mechanism further comprises a transfer mechanism electrically connected with the PLC, and the transfer mechanism comprises a transfer clamp connected with the material taking clamping jaw through a small worm assembly and a transfer servo shaft driving the transfer clamp to horizontally move left and right.
Get the concrete mounting structure of material clamping jaw for locating rotatory servo axle lower extreme, on the servo axle of lift was located to rotatory servo axle, on the servo axle of translation was located to the servo axle of lift, translation servo axle and transfer servo axle were located on the same support.
The positioning hole is positioned right above the bracket bearing positioning salient point.
On the other hand, the automatic feeding method of the small worm assembly comprises the following steps:
a. the small worm assemblies automatically discharged from the previous process to the tray are sequentially conveyed to a material taking position through a conveying mechanism;
b. detecting the position of a support bearing positioning salient point of the worm small assembly by a vision camera, calculating an included angle between the support bearing positioning salient point and a datum line and feeding back the included angle to a rotary servo shaft, and controlling the material taking clamping jaw to rotate to a corresponding angle by the rotary servo shaft according to the angle fed back by the camera;
c. the lifting servo shaft moves to a material taking position, the support bearing is positioned again through the contact type telescopic probe of the material taking clamping jaw, if the contact type telescopic probe is inserted into the slot, the positioning is accurate, and the material taking clamping jaw takes materials; if not, the lifting servo shaft is used for controlling to return to the original position, and the step b is returned;
d. the small worm assembly is driven by the translation servo shaft to translate to the transfer mechanism through the material taking clamping jaw, clamped by the transfer clamping jaw and then conveyed to the position below a pressure head of the press-fitting press, and the small worm assembly is magnetically attracted by the pressure head to complete feeding.
In the step d, when the pressure head magnetically attracts the small worm assembly, if the positioning pin of the pressure head corresponds to and is in butt joint with the positioning hole of the support bearing, magnetic attraction can be realized; if the worm is not butted, the small worm assembly falls off.
The automatic feeding system and the feeding method of the small worm assembly have the following beneficial effects that:
1. the angle of the material taking clamping jaw is controlled by detecting the positioning salient point of the support bearing through the vision camera, the support bearing is positioned again through the contact type telescopic probe of the material taking clamping jaw, closed-loop control is achieved, and the positioning accuracy is improved.
2. The positioning accuracy is further improved through the third positioning of the positioning pin of the pressure head and the positioning hole of the support bearing.
3. The whole feeding process is full-automatic and high in intelligent degree, the risk of positioning failure can be effectively eliminated, and the defect that the worm is damaged in the process of press fitting due to positioning errors is avoided.
Drawings
FIG. 1 is a schematic diagram of a press-fitting principle of a worm gear small assembly in the prior art;
FIG. 2 is a schematic view of a bracket bearing positioning bump of a prior art worm sub-assembly;
FIG. 3 is a schematic illustration of a prior art servo housing inner recess;
fig. 4 is a partial cross-sectional view of a press-fitting press of the prior art;
FIG. 5 is a schematic structural diagram of a transfer mechanism of the present invention;
FIG. 6 is a schematic view of a material extracting mechanism according to the present invention;
fig. 7 is a schematic view of a material extracting jaw of the present invention;
fig. 8 is a partial structural schematic view of the press-fitting press of the present invention;
FIG. 9 is a schematic view of the locating pin of the indenter of the present invention;
FIG. 10 is a schematic view of the support bearing of the worm gear sub-assembly of the present invention;
figure 11 is a schematic view of the insertion of the probe of the pick up jaw of the present invention into the socket of the carrier bearing.
Detailed Description
The automatic feeding system and the feeding method of the worm gear small assembly of the present invention are further described with reference to the accompanying drawings and embodiments.
The automatic feeding system of the small worm assembly mainly comprises:
the conveying mechanism shown in fig. 5 comprises a lower material taking circulating conveyor belt 10 and a plurality of trays 11 running on the conveyor belt and used for carrying the small worm assemblies 1, wherein each tray 11 can be loaded with one small worm assembly 1 automatically fed to the tray from the previous process, and is conveyed to a material taking position on one side through the lower material taking circulating conveyor belt 10 and then returned to a feeding position on the other side.
As shown in fig. 6, the material taking mechanism is arranged at the material taking position on one side of the conveying mechanism, and includes a material taking clamping jaw 20, a rotating servo shaft 21 for driving the material taking clamping jaw 20 to rotate, a lifting servo shaft 22 for driving the material taking clamping jaw 20 to lift, a translation servo shaft 23 for driving the material taking clamping jaw 20 to translate left and right, and a vision camera 24 for detecting the support bearing positioning salient point 4 of the worm small assembly 1, as shown in fig. 7, a pair of contact type telescopic probes 25 is arranged on the material taking clamping jaw 20, and is controlled by a clamping cylinder 26, so that the material taking clamping jaw 20 can vertically grab the worm small assembly 1 from above the tray 11.
As shown in fig. 8, the press-fitting press 30 is disposed on one side of the material taking mechanism, the press-fitting press 30 includes a magnetic press head 31, and a positioning pin 32 is disposed on a lower end surface of the press head 31 and is located right above the bracket bearing positioning salient point 4.
And the PLC (not shown in the figure) is respectively and electrically connected with the conveying mechanism, the material taking mechanism and the press-fitting press 30 and is used for intelligently controlling the actions of all the mechanisms.
As shown in fig. 9 to 11, slots 43 for inserting the probes 25 are further provided on two sides of the support bearing positioning bumps 4 of the worm small assembly 1, and a positioning hole 42 matched with the positioning pin 32 is further provided on the upper end surface of the support bearing 3.
As an embodiment, since the upper end surface of the small worm assembly 1 clamped by the material taking clamping jaw 20 of the material taking mechanism is consistent with a positioning surface required by press mounting of a press, in order to enable the small worm assembly 1 to smoothly transit to the press head 31, the material taking mechanism further comprises a transfer mechanism electrically connected with the PLC, the transfer mechanism comprises a transfer clamp 40 connected with the small worm assembly 1 from the material taking clamping jaw 20 and a transfer servo shaft 41 driving the transfer clamp 40 to horizontally translate left and right, the transfer clamp 40 is horizontally clamped with the small worm assembly 1, the upper end surface of the small worm assembly 1 is exposed, and the transfer clamp is transferred to the position of the press head 31 through the transfer servo shaft 41 for feeding.
Get material clamping jaw 20's concrete mounting structure is for locating rotatory servo axle 21 lower extreme, and rotatory servo axle 21 is located on the servo axle 22 of lift, and servo axle 22 of lift is located translation servo axle 23, and translation servo axle 23 and transfer servo axle are located on the same support.
The feeding method of the automatic feeding system of the small worm assembly 1 specifically comprises the following steps:
a. the worm small assemblies 1 automatically discharged to the tray 11 from the previous process are sequentially conveyed to a material taking position through a belt of a conveying mechanism;
c. the lifting servo shaft 22 moves to a material taking position, the support bearing 3 is positioned again through the contact type telescopic probe 25 of the material taking clamping jaw 20, if the contact type telescopic probe 25 is inserted into the slot 43, the positioning is accurate, the material is taken by the material taking clamping jaw 20 (see figure 11), and the empty tray 11 returns to the material discharging side; if not, the lifting servo shaft 22 is used for controlling to return to the original point position, and the step b is returned to, and the detection and the positioning are carried out again;
d. the material taking clamping jaw 20 is driven by the translation servo shaft 23 to translate the small worm assembly 1 to a transfer mechanism, the small worm assembly is clamped by the transfer clamping jaw 40 and then is conveyed to a position below a pressure head 31 of the press-fitting press 30, the small worm assembly 1 is magnetically attracted by the pressure head 31, the material loading is completed, and the next press-fitting process is carried out.
In the step d, when the pressure head 31 magnetically attracts the small worm assembly 1, if the positioning pin 32 of the pressure head 31 corresponds to and is in butt joint with the positioning hole of the bracket bearing 3, magnetic attraction can be realized; if the tray is not butted, the distance between the pressure head 31 and the small worm assembly 1 is larger than the magnetic attraction required distance, the small worm assembly 1 falls off, and the feeding of the small worm assembly 1 of the next tray 11 is continued.
However, those skilled in the art should realize that the above embodiments are illustrative only and not limiting to the present invention, and that changes and modifications to the above described embodiments are intended to fall within the scope of the appended claims, provided they fall within the true spirit of the present invention.
Claims (6)
1. The utility model provides a little assembly's of worm automatic feeding system which characterized in that includes:
the conveying mechanism comprises a lower material taking circulating conveying belt, a material taking circulating conveying belt and a plurality of trays which run on the conveying belt and are used for bearing the small worm assembly;
the material taking mechanism is arranged at a material taking position on one side of the conveying mechanism and comprises a material taking clamping jaw, a rotary servo shaft for driving the material taking clamping jaw to rotate, a lifting servo shaft for driving the material taking clamping jaw to lift, a translation servo shaft for driving the material taking clamping jaw to translate left and right and a vision camera for detecting a support bearing positioning convex point of the small worm assembly, wherein a pair of contact type telescopic probes is arranged on the material taking clamping jaw;
the press-fitting press is arranged on one side of the material taking mechanism and comprises a magnetic pressure head, and a positioning pin is arranged on the lower end face of the pressure head;
the PLC is electrically connected with the conveying mechanism, the material taking mechanism and the press-fitting press respectively;
and slots for inserting probes are further formed in two sides of the support bearing positioning salient points of the small worm assembly, and positioning holes matched with the positioning pins are further formed in the upper end face of the support bearing.
2. The automatic feeding system of the small worm assembly as claimed in claim 1, characterized in that: the material taking mechanism further comprises a transfer mechanism electrically connected with the PLC, and the transfer mechanism comprises a transfer clamp connected with the material taking clamping jaw through a small worm assembly and a transfer servo shaft driving the transfer clamp to horizontally move left and right.
3. The automatic feeding system of the small worm assembly as claimed in claim 2, characterized in that: get the material clamping jaw and locate rotatory servo axle lower extreme, rotatory servo axle is located on the servo axle of lift, and the servo axle of lift is located translation servo epaxially, and translation servo axle and transfer servo axle are located on the same support.
4. The automatic feeding system of the small worm assembly as claimed in claim 1, characterized in that: the positioning hole is positioned right above the bracket bearing positioning salient point.
5. The feeding method of the automatic feeding device of the worm small assembly as claimed in any one of claims 1 to 4, characterized by comprising the following steps:
a. the small worm assemblies automatically discharged from the previous process to the tray are sequentially conveyed to a material taking position through a conveying mechanism;
b. detecting the position of a support bearing positioning salient point of the worm small assembly by a vision camera, calculating an included angle between the support bearing positioning salient point and a datum line and feeding back the included angle to a rotary servo shaft, and controlling the material taking clamping jaw to rotate to a corresponding angle by the rotary servo shaft according to the angle fed back by the camera;
c. the lifting servo shaft moves to a material taking position, the support bearing is positioned again through the contact type telescopic probe of the material taking clamping jaw, if the contact type telescopic probe is inserted into the slot, the positioning is accurate, and the material taking clamping jaw takes materials; if not, the lifting servo shaft is used for controlling to return to the original position, and the step b is returned;
d. the small worm assembly is driven by the translation servo shaft to translate to the transfer mechanism through the material taking clamping jaw, clamped by the transfer clamping jaw and then sent to the position below a pressure head of the press-fitting press, and the small worm assembly is magnetically attracted by the pressure head to complete feeding.
6. The automatic feeding method of the worm small assembly as claimed in claim 5, characterized in that: in the step d, when the pressure head magnetically attracts the small worm assembly, if the positioning pin of the pressure head corresponds to and is in butt joint with the positioning hole of the support bearing, magnetic attraction can be realized; if the worm is not butted, the small worm assembly falls off.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110070938.0A CN114799809A (en) | 2021-01-19 | 2021-01-19 | Automatic feeding system and method for small worm assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110070938.0A CN114799809A (en) | 2021-01-19 | 2021-01-19 | Automatic feeding system and method for small worm assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114799809A true CN114799809A (en) | 2022-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110070938.0A Pending CN114799809A (en) | 2021-01-19 | 2021-01-19 | Automatic feeding system and method for small worm assembly |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1338372A1 (en) * | 2002-02-20 | 2003-08-27 | Vossloh-Schwabe Italia SPA | Basic machine for automatic assembly of articles |
| US20180147704A1 (en) * | 2016-11-28 | 2018-05-31 | David Hauser | Apparatus and method for grasping a screw beneath the screw head with jaws and for releasing same |
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| CN109514218A (en) * | 2018-12-07 | 2019-03-26 | 湖南牛顺科技有限公司 | A kind of worm screw assembling detection device |
| CN208977187U (en) * | 2018-08-16 | 2019-06-14 | 昆山捷云智能装备有限公司 | High-precision motor hot jacket kludge |
| CN110794320A (en) * | 2019-12-02 | 2020-02-14 | 广东正业科技股份有限公司 | Full-automatic voltage internal resistance test system |
| CN110949746A (en) * | 2019-12-12 | 2020-04-03 | 中国科学院沈阳自动化研究所 | Floating self-feedback automatic boxing and clamping device for bearing rollers |
| CN210365922U (en) * | 2019-06-12 | 2020-04-21 | 惠州欣旺达智能工业有限公司 | Clamping device with guiding function |
| CN215146442U (en) * | 2021-01-19 | 2021-12-14 | 博世华域转向***有限公司 | Automatic feeding system of worm assembly |
-
2021
- 2021-01-19 CN CN202110070938.0A patent/CN114799809A/en active Pending
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| EP1338372A1 (en) * | 2002-02-20 | 2003-08-27 | Vossloh-Schwabe Italia SPA | Basic machine for automatic assembly of articles |
| US20180147704A1 (en) * | 2016-11-28 | 2018-05-31 | David Hauser | Apparatus and method for grasping a screw beneath the screw head with jaws and for releasing same |
| CN207491462U (en) * | 2017-11-23 | 2018-06-12 | 成都宝利根自动化技术有限公司 | Transfer servo rotating clamp modulus group |
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