CN114952219B - Intelligent assembling system and method for high-locking bolt - Google Patents
Intelligent assembling system and method for high-locking bolt Download PDFInfo
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- CN114952219B CN114952219B CN202210532967.9A CN202210532967A CN114952219B CN 114952219 B CN114952219 B CN 114952219B CN 202210532967 A CN202210532967 A CN 202210532967A CN 114952219 B CN114952219 B CN 114952219B
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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
- B23P19/001—Article feeders for assembling machines
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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Abstract
The application relates to an intelligent assembling system and method for a high-lock bolt, comprising the following steps: the nail inserting robot comprises a first mechanical arm, a first quick change disc and a visual assembly; the tail end of the first mechanical arm is provided with the first quick-change disc, and the side part of the tail end of the first mechanical arm is provided with the visual component; the locking robot comprises a second mechanical arm and a second quick-change disc; the tail end of the second mechanical arm is provided with the second quick-change disc; the nail inserting tool is arranged at the tail end of the first mechanical arm through the first quick change disc, and is driven by the nail inserting robot to insert nails; the locking tool is arranged at the tail end of the second mechanical arm through the second quick-change disc, is matched with the pin inserting robot and is used for locking a workpiece to be locked. The application can save labor force, improve the manufacturing efficiency of the whole machine and ensure the consistency of the connection performance of parts.
Description
Technical Field
The application relates to the technical field of aircraft manufacturing, in particular to an intelligent assembly system and method for a high-lock bolt.
Background
The use of robots in aircraft assembly has become a necessary trend in future aviation industry development. In aircraft skin assembly, the most representative connecting component is a high lock bolt. In the traditional aircraft skin assembly process, the high-locking bolts are mainly connected and assembled by manual drilling and riveting, and the aircraft skin has huge rivet quantity, so that the labor intensity of workers is necessarily high, the assembly efficiency is low, and the problem of poor performance consistency of assembled parts is caused by manual participation.
At present, special automatic equipment developed according to aircraft skin assembly exists, but the equipment has the problems of huge volume, high cost, single use and difficult maintenance. Therefore, how to develop a robot-based intelligent assembly device for high-lock bolts becomes a technical problem to be solved.
Disclosure of Invention
Aiming at the problems, the application aims to provide the intelligent assembling system and the intelligent assembling method for the high-locking bolt, which can save labor force, improve the manufacturing efficiency of the whole machine and ensure the consistency of the connecting performance of parts.
In order to achieve the above purpose, the present application adopts the following technical scheme: an intelligent assembly system for a high lock bolt, comprising: the nail inserting robot comprises a first mechanical arm, a first quick change disc and a visual assembly; the tail end of the first mechanical arm is provided with the first quick-change disc, and the side part of the tail end of the first mechanical arm is provided with the visual component; the locking robot comprises a second mechanical arm and a second quick-change disc; the tail end of the second mechanical arm is provided with the second quick-change disc; the nail inserting tool is arranged at the tail end of the first mechanical arm through the first quick change disc, and is driven by the nail inserting robot to insert nails; the locking tool is arranged at the tail end of the second mechanical arm through the second quick-change disc, matched with the pin inserting robot and used for locking a workpiece to be locked.
Further, a first six-dimensional force sensor is arranged between the tail end of the first mechanical arm and the first quick-change disc; a second six-dimensional force sensor is arranged between the tail end of the second mechanical arm and the second quick-change disc.
Further, the locking tool comprises a connecting plate, a servo motor, a planetary gear reducer and a gear box; one end of the connecting plate is connected with a master disc of the second quick-change disc on the tail end of the locking robot; an output shaft of the servo motor is connected with the planetary gear reducer, and an output shaft of the planetary gear reducer is connected with a driving gear of the gear box; the gear box is arranged at the other end of the connecting plate.
Further, the locking tool further comprises a servo motor encoder and a torque sensor; the servo motor encoder is arranged on the servo motor and used for measuring the rotation angle and the rotation speed of the servo motor, and the torque sensor is arranged on the planetary gear reducer and used for measuring the output torque of the planetary gear reducer.
Further, the gearbox comprises a box body, a driving gear, a box cover, a pre-tightening nut, a fixing cap, a pre-tightening spring, a hexagonal screwdriver head and a driven gear;
the side wall of one end of the box body is arranged on the connecting plate, the bottom of the box body is provided with the box cover, the box body is internally provided with the driving gear and the driven gear which are meshed with each other, and the driving gear is coaxially connected with the output shaft of the planetary gear reducer; a rotating shaft connected with the driven gear adopts a hollow shaft, and one end of the hollow shaft extends to the outside of the box cover to form an extension part; the hexagonal screwdriver head penetrates through the hollow shaft, the large end of the hexagonal screwdriver head is positioned on the outer side of the top of the box body, and the small end of the hexagonal screwdriver head penetrates through the sleeve and is positioned on the outer side of the hollow shaft; the bottom of the fixing cap is arranged on the outer side of the top of the box body, and the large end of the hexagonal screwdriver head is positioned in the fixing cap; the top of the fixing cap is provided with the pre-tightening nut, and the tightening pre-tightening spring is arranged between the pre-tightening nut and the end part of the hexagonal screwdriver head.
Further, a circle of groove is circumferentially arranged on the side wall of the hollow shaft, a through hole communicated with the groove is arranged on the box cover, an air passage communicated with the groove is arranged in the side wall of the hollow shaft along the length direction of the hollow shaft, and the through hole, the groove and the air passage form a first negative pressure air passage; and an air passage port positioned at the end part of the extension part forms a nut adapting hole, and the nut is picked up through the first negative pressure air passage and the nut adapting hole.
Further, the end of the hollow shaft extension is an inner hexagonal hole.
Further, the inside of the fixing cap is provided with a hexagonal hole for limiting the rotation of the large end of the hexagonal screwdriver head; the big end and the small end of the hexagonal screwdriver head are both of an external hexagonal structure.
Further, the pin inserting tool comprises a mounting circular plate, a connecting rod and a screw suction head; the mounting circular plate is mounted on the first quick-change plate of the pin inserting robot through a screw, the first end of the connecting rod is connected with the middle part of the mounting circular plate through threads, and the second end of the connecting rod is fixedly connected with the screw suction head through threads;
the lateral part of screw suction head has seted up the second negative pressure air flue, the tip of screw suction head be provided with the bolt adaptation hole of second negative pressure air flue intercommunication.
The intelligent high-lock bolt assembling method based on the assembling system comprises the following steps of:
1) The nail inserting robot moves to a nail inserting tool placing position of the tool tray, and the nail inserting tool is installed on the first quick change disc;
2) The screw inserting robot moves to the upper part of the screw tray, the vision component shoots and identifies the screw position and then moves to the corresponding pick-up position, at the moment, a second negative pressure air passage in the screw inserting tool starts to suck air, and the screw inserting robot picks up the screw and then moves to the transition point position;
3) The nail inserting robot moves to the upper part of the nut tray, photographs and identifies the position of the nut through the vision component, and then moves to the transition point for waiting;
4) The locking robot moves to a corresponding pick-up position, at the moment, the servo motor is started to drive the planetary gear reducer to rotate so as to drive the driving gear and the driven gear to rotate, and simultaneously, the first negative pressure air passage of the gear box starts to suck air, and the nut is picked up by the nut adapting hole at the tail end of the driven gear and is successfully used for cap recognition;
5) The locking robot moves to a designated transition point for waiting, the pin inserting robot moves to a designated hole site, and the pin inserting robot inserts the screw into the corresponding hole site after the vision component photographs and recognizes;
6) After the appointed hole site is identified, the locking robot drives the tail end locking tool to reach the appointed hole site and aligns the high locking nut with the high locking bolt; the servo motor rotates slowly until the small end of the hexagonal screwdriver head is inserted into the inner hole of the end face of the high-lock bolt, then the servo motor drives the driven gear to rotate at a high speed to enable the bolt to rotate to be attached to a workpiece, then the servo motor drives the driven gear to rotate at a low speed according to a set low speed, after the disconnection of the nut is monitored according to the change trend of the feedback locking moment of the torque sensor, the locking robot stops locking and drives the tail end locking tool to return to the initial position after releasing the disconnected nut from the human waste disc, and an assembly period is completed.
Due to the adoption of the technical scheme, the application has the following advantages:
1. the intelligent locking tool provided by the application realizes the separation of the two motion states of the movement of the nut knob and the back-turning of the bolt.
2. The intelligent high-lock bolt assembling robot provided by the application realizes automatic picking, flexible cap recognition, bolt tracing and automatic locking of the high-lock bolt, and effectively improves the assembling precision and efficiency of the high-lock bolt.
3. The intelligent assembling robot for the high-lock bolts and the terminal assembling tool thereof can record, save and upload parameters of the screwing process to the cloud end, and provide a data base and traceable means for digital twinning, aircraft service performance and health monitoring, full life cycle management and other works in the subsequent aircraft manufacturing process. In addition, the application can provide a data foundation for the domestic performance consistency aspect of the high-locking bolt.
4. The application can realize unordered picking, autonomous insertion, intelligent assembly and parameter recording of nuts and screws in the high-lock bolt assembly process. Under the guidance of the vision system, the robot can recognize the positions of the nuts and the screws on the tray and pick up the nuts and the screws under the negative pressure of the end tool. The robot can insert the bolts into the given hole sites under the guidance of the vision system and the force sensor. The locking robot holds the tightening tool to lock the high-lock nut on the bolt and twist off the lantern ring. The intelligent servo tightening machine and the force sensor measure and store the tightening process parameters of the high-locking bolt in real time, such as data of locking moment, locking angle, locking rotating speed, breaking peak torque and the like.
In summary, the application provides an intelligent tool for aircraft skin drilling and riveting assembly, a data base and a detection method for tracing high-lock bolt connection performance parameters, and a digital means and a twin interface for intelligent aircraft manufacturing.
Drawings
FIG. 1 is a schematic view of the overall construction of an intelligent assembly system for high lock bolts in an embodiment of the present application;
FIG. 2 is an overall schematic of a locking tool for locking a robot tip according to an embodiment of the present application;
FIG. 3 is a full cross-sectional view of a gearbox in a locking tool for locking a robot tip according to an embodiment of the present application;
FIG. 4 is a bottom view of a gearbox in a locking tool for locking a robot tip according to an embodiment of the present application;
fig. 5 is a schematic view of a pin inserting tool for a pin inserting robot tip according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present application. It will be apparent that the described embodiments are some, but not all, embodiments of the application. All other embodiments, which are obtained by a person skilled in the art based on the described embodiments of the application, fall within the scope of protection of the application.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The application provides an intelligent assembling system and method for a high-lock bolt, which are applied to the field of intelligent assembling of the high-lock bolt in the aircraft manufacturing industry. The nail inserting robot comprises a first mechanical arm, a first quick change disc and a visual assembly; the tail end of the first mechanical arm is provided with a first quick-change disc, and a visual assembly is arranged on the side part of the tail end of the first mechanical arm; the locking robot comprises a second mechanical arm and a second quick-change disc; the tail end of the second mechanical arm is provided with a second quick-change disc; the nail inserting tool is arranged at the tail end of the first mechanical arm through the first quick change disc, and is driven by the nail inserting robot to insert nails; the locking tool is arranged at the tail end of the second mechanical arm through the second quick-change disc and matched with the pin inserting robot, and is used for locking a workpiece to be locked. The assembling tool realizes unordered grabbing and intelligent assembling of the high-lock bolts through cooperative work of the two robots, so that labor force can be saved, the manufacturing efficiency of the whole machine can be improved, and the consistency of the connecting performance of parts can be ensured.
In one embodiment of the application, a high lock bolt intelligent assembly system is provided. In this embodiment, as shown in fig. 1, the system includes:
the nail inserting robot 1 comprises a first mechanical arm 2, a first quick change disc 3 and a visual component 4; the first mechanical arm 2 adopts 6 degrees of freedom, the tail end of the first mechanical arm is provided with a first quick-change disc 3, the side part of the tail end of the first mechanical arm 2 is provided with a visual component 4, the position information of the inserted nails is shot and identified, and the positions of the bolts and the nuts are detected in real time and used for calibrating the position and the gesture of the locking robot 5 and the inserted nails robot 1;
a locking robot 5 comprising a second mechanical arm 6 and a second quick change disc 7; the second mechanical arm 6 adopts 6 degrees of freedom, and the tail end of the second mechanical arm is provided with a second quick-change disc 7;
the pin inserting tool 8 is arranged at the tail end of the first mechanical arm 2 through the first quick change disc 3, and drives the pin inserting robot 1 to insert pins on the working surface;
the locking tool 9 is arranged at the tail end of the second mechanical arm 6 through the second quick-change disc 7 and matched with the pin inserting robot 1, and is used for locking a workpiece to be locked.
In the above embodiment, the first six-dimensional force sensor 10 is disposed between the end of the first mechanical arm 2 of the nail inserting robot 1 and the first quick-change disc 3, and 3 forces and 3 moments when the nail inserting robot 1 picks up the bolts and the nails can be detected simultaneously by the first six-dimensional force sensor 10. In use, the first six-dimensional force sensor 10 outputs the magnitude and direction of the applied force in real time, with high accuracy and high response capability.
In the above embodiment, the second six-dimensional force sensor 11 is provided between the end of the second mechanical arm 6 of the locking robot 5 and the second quick-change disc 7. By means of the second six-dimensional force sensor 11, 3 forces and 3 moments can be detected simultaneously when the locking robot 5 locks the screw.
In a preferred embodiment, as shown in fig. 2, the locking tool 9 comprises a connection plate 901, a servo motor 902, a planetary gear reducer 903 and a gearbox 904. One end of the connecting plate 901 is connected with a master disc of a second quick-change disc 7 on the tail end of the locking robot 5; an output shaft of the servo motor 902 is connected to a planetary gear reducer 903, an output shaft of the planetary gear reducer 903 is connected to a driving gear of a gear box 904, and the planetary gear reducer 903 reduces the number of revolutions of the servo motor 902 to the number of revolutions required by a lock nut, and can achieve a large torque. The gear box 904 is arranged at the other end of the connecting plate 901, and the output end of the gear box 904 drives the nut to lock. In use, power output by the servo motor 902 is transmitted to the gearbox 904 by the planetary gear reducer 903 in a smooth transition, and power is provided to the gearbox 904.
In the above embodiment, the locking tool 9 further includes a servo motor encoder 906 and a torque sensor 907. A servo motor encoder 906 is provided on the servo motor 902 for measuring the rotation angle and rotation speed of the servo motor 902. A torque sensor 907 is provided on the planetary gear reducer 903 for measuring the output torque of the planetary gear reducer 903.
In the present embodiment, an intelligent servo lock is constituted by a servo motor 902, a servo motor encoder 905, a planetary gear reducer 903, a torque sensor 907, and a gear box 904. The locking machine can adopt three locking modes such as speed method locking, torque method locking, comprehensive method locking and the like to realize slow positioning, fast screwing and slow attaching of the bolt and the nut, for example, when the torque method locking is carried out, the locking machine firstly confirms a cap, after the cap is confirmed, the locking machine locks the bolt according to a rotating speed parameter set by a user, the locking machine rotates the bolt to attach with a workpiece through high-speed pre-tightening in the locking process, and then controls the locking moment to be near a set target moment through low-speed locking. After the locking is completed, the locking machine performs an unloading action according to the unloading angle and the unloading moment in order to facilitate the separation of the sleeve and the bolt. In addition, in the locking process, whether parameters such as locking angle, time, number of turns and the like are within a set safety range or not is judged, and if the parameters exceed the set safety range, the locking is stopped and the NG alarm is performed at the same time.
In the above embodiment, as shown in fig. 3 and 4, the gear case 904 includes a case body 9041, a case cover 9042, a driving gear 9043, a driven gear 9044, a hexagonal screwdriver bit 9045, a fixing cap 9046, a pretensioning nut 9047, and a pretensioning spring 9048.
The lateral wall of box 9041 one end is installed on connecting plate 901, and the bottom of box 9041 is provided with case lid 9042, is provided with driving gear 9043 and driven gear 9044 in the box 9041, and driving gear 9043 and driven gear 9044 meshing, driving gear 9043 and planetary gear reducer 903's output shaft coaxial coupling, drive driving gear 9043 by servo motor 902 rotates, and then drives driven gear 9044 and rotate.
The rotation shaft connected to the driven gear 9044 is a hollow shaft 9053, and one end of the hollow shaft 9053 extends to the outside of the case cover 9042 to form an extension portion. The hexagonal batch head 9045 is arranged in the hollow shaft 9053 of the driven gear 9044 in a penetrating way, the large end of the hexagonal batch head 9045 is positioned outside the top of the box body 9041, the small end of the hexagonal batch head 9045 passes through the hollow shaft 9053 and is positioned outside the extension part, and a gap is reserved between the small end of the hexagonal batch head 9045 and the hollow shaft 9053. The bottom of the fixing cap 9046 is arranged on the outer side of the top of the box body 9041, the large end of the hexagonal screwdriver bit 9045 is positioned in the fixing cap 9046, and the fixing cap 9046 is concentric with the hollow shaft 9053; the top of the securing cap 9046 is provided with a pre-tightening nut 9047, and a pre-tightening spring 9048 is provided between the pre-tightening nut 9047 and the end of the hex bit 9045. When in use, the small end of the hexagonal screwdriver bit 9045 is inserted into the inner hexagonal hole at the end part of the high-lock bolt to limit the rotation of the high-lock bolt.
A circle of groove is circumferentially arranged on the side wall of the hollow shaft 9053, a through hole communicated with the groove is arranged on the box cover 9042, an air passage communicated with the groove is arranged in the side wall of the hollow shaft 9053 along the length direction of the hollow shaft 9053, and a first negative pressure air passage 9049 is formed by the through hole, the groove and the air passage. The air passage port at the end of the extension of the hollow shaft 9053 forms a nut fitting hole, and nut pickup is performed through the first negative pressure air passage 9049 and the nut fitting hole.
In the above embodiment, the end of the hollow shaft 9053 of the driven gear 9044 is an inner hexagonal hole for driving the high lock nut to rotate.
In the above embodiment, the fixing cap 9046 has a hexagonal hole inside to limit the rotation of the large end of the hexagonal screwdriver bit 9045. The big end and the small end of the hexagonal screwdriver bit 9045 are both of an external hexagonal structure.
In the above embodiment, the drive gear 9043 is provided in the case 9041 through the drive gear bearing 9050, and the driven gear 9044 is provided in the case 9041 through the driven gear bearing 9051.
In the above embodiment, the seal rings 9052 are provided on the upper and lower sides of the first negative pressure air passage 9049, between the hollow shaft 9053 and the case cover 9042.
In a preferred embodiment, as shown in FIG. 5, the pin tool 8 includes a mounting circular plate 801, a connecting rod 802, and a screw tip 803. The installation circular plate 801 is installed on the first quick change plate 3 of the pin inserting robot 1 through a screw, the first end of the connecting rod 802 is connected with the middle part of the installation circular plate 801 through threads, and the second end of the connecting rod 802 is fixedly connected with the screw suction head 803 through threads.
The side portion of the screw suction head 803 is provided with a second negative pressure air passage 804, and the end portion of the screw suction head 803 is provided with a screw bolt adapting hole 805 communicated with the second negative pressure air passage 804. In use, an aspirator is mounted at the end of the second negative pressure air channel 804 to aspirate air, and the screw is picked up by the screw suction head 803 through the action of the second negative pressure air channel 804 and the screw adapting hole 805.
In an embodiment of the present application, an intelligent assembly method for a high-lock bolt is provided, which is implemented based on the intelligent assembly system for a high-lock bolt in each of the above embodiments. In this embodiment, the method comprises the steps of:
1) The nail inserting robot 1 moves to a nail inserting tool 8 placing position of the tool tray, and the nail inserting tool 8 is installed on the first quick change disc 3;
2) The nail inserting robot 1 moves to the upper side of the screw tray, the vision component 4 shoots and identifies the position of the screw and then moves to the corresponding pick-up position, at the moment, the second negative pressure air passage 804 in the nail inserting tool 8 starts to suck air, and the nail inserting robot 1 picks up the screw and then moves to the transition point position.
3) The nail inserting robot 1 moves to the upper part of the nut tray, photographs and identifies the position of the nut through the vision component 4, and then moves to the transition point for waiting;
4) The locking robot 5 moves to the corresponding pick-up position, at this time, the servo motor 902 in the locking tool 9 at the tail end of the locking robot 5 is started to drive the planetary gear reducer 903 to rotate, and then drive the driving gear 9043 and the driven gear 9044 to rotate, and simultaneously the first negative pressure air passage 9049 of the gear box 904 starts to suck air, and the nut is picked up by the nut adapting hole at the tail end of the driven gear 9044 and caps are successfully acknowledged.
5) The locking robot 5 moves to a designated transition point to wait, the pin inserting robot 1 moves to a designated hole site, and after the vision component 4 photographs and identifies, the pin inserting robot 1 inserts the screw into the corresponding hole site.
6) After the designated hole site is identified, the locking robot 5 drives the end locking tool 9 to reach the designated hole site and aligns the high lock nut with the high lock bolt. The servo motor 902 rotates slowly until the small end of the hexagonal screwdriver bit 9045 is inserted into the inner hole of the cross section of the high-lock bolt, then the servo motor 902 drives the driven gear 9044 to rotate at a high speed to enable the bolt to be attached to a workpiece, then the servo motor 902 drives the driven gear 9044 to rotate at a low speed according to a set low speed, after the fact that the nut of the nut is disconnected according to the change trend of the feedback locking moment of the torque sensor 907 is monitored, the locking robot 5 stops locking and drives the tail end locking tool 9 to return to the initial position after releasing the disconnected nut from the scrap tray, and an assembly period is completed.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (6)
1. High lock bolt intelligence assembly system, its characterized in that includes:
the nail inserting robot comprises a first mechanical arm, a first quick change disc and a visual assembly; the tail end of the first mechanical arm is provided with the first quick-change disc, and the side part of the tail end of the first mechanical arm is provided with the visual component;
the locking robot comprises a second mechanical arm and a second quick-change disc; the tail end of the second mechanical arm is provided with the second quick-change disc;
the nail inserting tool is arranged at the tail end of the first mechanical arm through the first quick change disc, and is driven by the nail inserting robot to insert nails;
the locking tool is arranged at the tail end of the second mechanical arm through the second quick change disc, matched with the pin inserting robot and used for locking a workpiece to be locked;
a first six-dimensional force sensor is arranged between the tail end of the first mechanical arm and the first quick change disc; a second six-dimensional force sensor is arranged between the tail end of the second mechanical arm and the second quick change disc;
the locking tool comprises a connecting plate, a servo motor, a planetary gear reducer and a gear box; one end of the connecting plate is connected with a master disc of the second quick-change disc on the tail end of the locking robot; an output shaft of the servo motor is connected with the planetary gear reducer, and an output shaft of the planetary gear reducer is connected with a driving gear of the gear box; the gear box is arranged at the other end of the connecting plate;
the gearbox comprises a box body, a driving gear, a box cover, a pre-tightening nut, a fixing cap, a pre-tightening spring, a hexagonal screwdriver head and a driven gear;
the side wall of one end of the box body is arranged on the connecting plate, the bottom of the box body is provided with the box cover, the box body is internally provided with the driving gear and the driven gear which are meshed with each other, and the driving gear is coaxially connected with the output shaft of the planetary gear reducer; a rotating shaft connected with the driven gear adopts a hollow shaft, and one end of the hollow shaft extends to the outside of the box cover to form an extension part; the hexagonal screwdriver head penetrates through the hollow shaft, the large end of the hexagonal screwdriver head is positioned on the outer side of the top of the box body, and the small end of the hexagonal screwdriver head penetrates through the sleeve and is positioned on the outer side of the hollow shaft; the bottom of the fixing cap is arranged on the outer side of the top of the box body, and the large end of the hexagonal screwdriver head is positioned in the fixing cap; the top of the fixing cap is provided with the pre-tightening nut, and the pre-tightening spring is arranged between the pre-tightening nut and the end part of the hexagonal screwdriver head;
the pin inserting tool comprises a mounting circular plate, a connecting rod and a screw suction head; the mounting circular plate is mounted on the first quick-change plate of the pin inserting robot through a screw, the first end of the connecting rod is connected with the middle part of the mounting circular plate through threads, and the second end of the connecting rod is fixedly connected with the screw suction head through threads;
the lateral part of screw suction head has seted up the second negative pressure air flue, the tip of screw suction head be provided with the bolt adaptation hole of second negative pressure air flue intercommunication.
2. The intelligent high lock bolt assembly system of claim 1, wherein the locking tool further comprises a servo motor encoder and a torque sensor; the servo motor encoder is arranged on the servo motor and used for measuring the rotation angle and the rotation speed of the servo motor, and the torque sensor is arranged on the planetary gear reducer and used for measuring the output torque of the planetary gear reducer.
3. The intelligent assembling system for the high-locking bolt according to claim 1, wherein a circle of grooves are circumferentially arranged on the side wall of the hollow shaft, through holes communicated with the grooves are formed in the box cover, air passages communicated with the grooves are formed in the side wall of the hollow shaft along the length direction of the hollow shaft, and the through holes, the grooves and the air passages form a first negative pressure air passage; and an air passage port positioned at the end part of the extension part forms a nut adapting hole, and the nut is picked up through the first negative pressure air passage and the nut adapting hole.
4. The intelligent high lock bolt assembly system of claim 1, wherein the hollow shaft extension is internally hexagonal bore at an end.
5. The intelligent assembling system for the high-lock bolt according to claim 1, wherein the inside of the fixing cap is a hexagonal hole for limiting the rotation of the large end of the hexagonal screwdriver head; the big end and the small end of the hexagonal screwdriver head are both of an external hexagonal structure.
6. An intelligent assembly method for a high-lock bolt based on the assembly system as claimed in any one of claims 1 to 5, comprising the following steps:
1) The nail inserting robot moves to a nail inserting tool placing position of the tool tray, and the nail inserting tool is installed on the first quick change disc;
2) The screw inserting robot moves to the upper part of the screw tray, the vision component shoots and identifies the screw position and then moves to the corresponding pick-up position, at the moment, a second negative pressure air passage in the screw inserting tool starts to suck air, and the screw inserting robot picks up the screw and then moves to the transition point position;
3) The nail inserting robot moves to the upper part of the nut tray, photographs and identifies the position of the nut through the vision component, and then moves to the transition point for waiting;
4) The locking robot moves to a corresponding pick-up position, at the moment, the servo motor is started to drive the planetary gear reducer to rotate so as to drive the driving gear and the driven gear to rotate, and simultaneously, the first negative pressure air passage of the gear box starts to suck air, and the nut is picked up by the nut adapting hole at the tail end of the driven gear and is successfully used for cap recognition;
5) The locking robot moves to a designated transition point for waiting, the pin inserting robot moves to a designated hole site, and the pin inserting robot inserts the screw into the corresponding hole site after the vision component photographs and recognizes;
6) After the appointed hole site is identified, the locking robot drives the tail end locking tool to reach the appointed hole site and aligns the high locking nut with the high locking bolt; the servo motor rotates slowly until the small end of the hexagonal screwdriver head is inserted into the inner hole of the end face of the high-lock bolt, then the servo motor drives the driven gear to rotate at a high speed to enable the bolt to rotate to be attached to a workpiece, then the servo motor drives the driven gear to rotate at a low speed according to a set low speed, after the disconnection of the nut is monitored according to the change trend of the feedback locking moment of the torque sensor, the locking robot stops locking and drives the tail end locking tool to return to the initial position after releasing the disconnected nut from the human waste disc, and an assembly period is completed.
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| CN202210532967.9A CN114952219B (en) | 2022-05-11 | 2022-05-11 | Intelligent assembling system and method for high-locking bolt |
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| CN202210532967.9A CN114952219B (en) | 2022-05-11 | 2022-05-11 | Intelligent assembling system and method for high-locking bolt |
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| CN114952219B true CN114952219B (en) | 2023-11-10 |
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