CN115106767A - Screw fool-proof screwing system based on ultrasonic positioning - Google Patents
Screw fool-proof screwing system based on ultrasonic positioning Download PDFInfo
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- CN115106767A CN115106767A CN202210917339.2A CN202210917339A CN115106767A CN 115106767 A CN115106767 A CN 115106767A CN 202210917339 A CN202210917339 A CN 202210917339A CN 115106767 A CN115106767 A CN 115106767A
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- 239000000725 suspension Substances 0.000 claims abstract description 19
- 238000009434 installation Methods 0.000 claims abstract description 6
- 229910000838 Al alloy Inorganic materials 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 2
- 238000010923 batch production Methods 0.000 description 1
- 230000008713 feedback mechanism Effects 0.000 description 1
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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
- 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
- B23P19/006—Holding or positioning the article in front of the applying tool
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
A screw fool-proofing tightening system based on ultrasonic positioning comprises an ultrasonic positioning system, an electric tightening system, a power-assisted suspension device, a tool support, a station support, a tray and an AGV; the ultrasonic positioning system, the electric tightening system and the power-assisted suspension device are arranged on the tool bracket; the station support is arranged in the tool support and fixed on the ground; the tray is placed on the station support and positioned; the AGV is arranged in the station support, two sides of the station support are opened, and the AGV can lift and freely move on two sides; the ultrasonic positioning system, the electric tightening system and the AGV can be communicated with each other. The invention has reasonable structure and controllable cost, can accurately position and prompt the installation position of the screw, can realize the monitoring of the screw assembly sequence and the torque control, ensures the quality of the screw, and avoids the problems of influencing the product performance, such as manual neglected assembly, installation according to the screw assembly sequence and the like.
Description
Technical Field
The invention belongs to the field of screw assembly, and particularly relates to a screw fool-proofing tightening system based on ultrasonic positioning.
Background
During the manufacturing process of the product, more or less screw assembly is involved, and the performance of the product is generally affected by the screw assembly. Generally, for a screw assembling process, a mature application scheme is provided from screw feeding, fastening, process arrangement and the like, and automation can be completely realized. In some cases, however, automatic screw assembly is difficult to achieve due to special reasons, such as product size limitations, and can only be accomplished with human intervention. Due to human factors, the problems of missing screw installation, non-sequential assembly, substandard tightening torque and the like cannot be avoided. Some screw assembly fool-proofing measures are also provided in the current market, and the feedback of the screw tightening position is realized mainly by hard connection of a tightening wrench and a position feedback mechanism. The main drawback does, when twisting many screws simultaneously, removes and screws up the spanner very inconveniently, leads to manual operation intensity increase, influences assembly efficiency, receives the restriction of position feedback stroke in addition, is unfavorable for assembly operation on a large scale.
Disclosure of Invention
The invention aims to provide an ultrasonic-based wireless positioning system, which realizes the manual-assisted screw assembly fool-proofing functions of screw assembly position wireless positioning, torque feedback, process arrangement and screw assembly sequence display, realizes the batch automatic production of products and improves the production efficiency.
The technical solution for realizing the purpose of the invention is as follows:
a screw fool-proofing tightening system based on ultrasonic positioning comprises an ultrasonic positioning system, an electric tightening system, a power-assisted suspension device, a tool support, a station support, a tray and an AGV;
the ultrasonic positioning system, the electric tightening system and the power-assisted suspension device are arranged on the tool bracket; the ultrasonic positioning system is used for teaching screw positions, arranging process sequences and participating in controlling the starting and stopping of the electric tightening system; the electric tightening system is used for tightening screws and feeding back torque; the power-assisted suspension device is used for moving and hovering the electric tightening system;
the station support is arranged in the tool support, is fixed on the ground and is used for placing and positioning the tray; the tray is placed on the station support and positioned, and is used for placing and positioning products; AGV sets up in the station support, and station support both sides are opened, and AGV liftable and both sides are free movement for the tray is carried between the station support.
Compared with the prior art, the invention has the following remarkable advantages:
(1) and an ultrasonic positioning system is adopted to realize wireless positioning of the screw assembling position and teaching arrangement of the assembling process. The functions of automatic prompt of the assembly position of the screw, automatic alarm of errors, omission of assembly, repeated assembly, assembly according to the process and the like are realized, and meanwhile, due to the adoption of wireless positioning, manual operation is not limited by a mechanical device, the operation is free, and the application range is wide;
(2) the automatic tray conveying device has the advantages that the automatic tray conveying device is used for automatically conveying trays, accurate positioning of the trays on the station support is achieved through matching of tray positioning pins of the station support and positioning holes of the trays, consistency of positions of different batches of products at the same station support is achieved, and large-scale batch production is facilitated;
(3) the power-assisted suspension device is adopted, the gravity balance of the wireless electric wrench is realized, the labor intensity of workers is reduced, and meanwhile, the wireless electric wrench is connected through a flexible wire and free to operate; in addition, the wireless electric wrench can be taken down from the power-assisted suspension device, so that assembly in a wider range is realized, and the positioning function of the wireless electric wrench is not influenced.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
Fig. 1 is a schematic three-dimensional structure in an embodiment of the present invention.
Fig. 2 is a schematic three-dimensional structure diagram of an ultrasonic positioning system in an embodiment of the invention.
Fig. 3 is a schematic three-dimensional structure diagram of an electric tightening system according to an embodiment of the present invention.
Fig. 4 is a schematic three-dimensional structure diagram of a power-assisted suspension device in an embodiment of the invention.
FIG. 5 is a schematic three-dimensional structure diagram of a station support in an embodiment of the invention.
Fig. 6 is a schematic three-dimensional structure diagram of a tray in an embodiment of the invention.
Fig. 7 is a connection relationship diagram in the embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
With reference to fig. 1-7, the screw fool-proofing tightening system based on ultrasonic positioning includes an ultrasonic positioning system 1, an electric tightening system 2, a power-assisted suspension device 3, a tool support 4, a station support 5, a tray 6, and an AGV 7;
the ultrasonic positioning system 1, the electric tightening system 2 and the power-assisted suspension device 3 are arranged on a tool support 4; the station support 5 is arranged in the tool support and fixed on the ground; the tray 6 is placed on the station support and positioned; AGV7 sets up in the station support, and 5 both sides of station support are opened, AGV7 liftable and both sides free movement.
The ultrasonic positioning system 1 is used for positioning the screw assembling position and teaching and programming the mounting process sequence, and determines the starting and stopping of the wireless electric wrench 22 together with the electric tightening system 2; the electric tightening system 2 is used for controlling the torque of screw assembly and determining the starting and stopping of the wireless electric wrench 22 together with the ultrasonic positioning system 1; the power-assisted suspension device 3 is used for suspending the wireless electric wrench 21 and realizing gravity balance; the tool support 4 is used for installing the ultrasonic positioning system 1, the electric tightening system 2 and the power-assisted suspension device 3; the station support 5 is used for placing and positioning the tray 6; the tray 6 is used for bearing and positioning a product to be assembled; the AGV7 is used for handling pallets 6 between different station racks 5.
Further, the ultrasonic positioning system 1 comprises an ultrasonic transmitter 11, an ultrasonic receiver 12, an ultrasonic system controller 13 and a display device, wherein the display device is preferably a touch display 14;
the ultrasonic transmitter 11 is used for positioning the wireless electric wrench 21, the ultrasonic transmitter 11 is mounted on a rotary lifting ring 36, the rotary lifting ring is mounted on the wireless electric wrench 21, and the rotary lifting ring 36 enables the ultrasonic transmitter 11 to be always in a horizontal state; the ultrasonic receiver 12 is configured to receive position information of the ultrasonic transmitter 11, perform data communication between the ultrasonic receiver and the ultrasonic transmitter through infrared, and transmit the received position information to the ultrasonic system controller 13 through a wired manner by the ultrasonic receiver 12; the ultrasonic system controller 13 is used for teaching and programming a screw assembly sequence, and performs wired data communication with the electric tightening system 2 to control the start and stop of the wireless electric wrench 21; the touch display 14 is used for selecting a screw installation process program, displaying the installation sequence of screws, displaying whether the installation is successful and the like.
Further, the electric tightening system 2 includes a cordless electric wrench 21, a tightening system controller 22;
the wireless electric wrench 21 is used for assembling screws and feeding back torque to the tightening system controller 22 in real time through wireless communication; the tightening system controller 22 is used to set the tightening torque of the screw, and determines the start and stop of the wireless electric wrench 22 together with the ultrasonic positioning system 1.
Further, the power-assisted suspension device 3 comprises 2 linear slide rails 31, a box-type sliding block 32, an aluminum alloy profile 33, a roller sliding assembly 34, a balancer 35 and a rotary lifting ring 36;
the 2 linear slide rails 31 are arranged on the tool bracket 4; two ends of the aluminum alloy section bar 33 are respectively connected with the linear slide rail 31 through box-type sliding blocks 32, so that the aluminum alloy section bar can move along the direction of the linear slide rail 31; the roller sliding assembly 34 is arranged inside the aluminum alloy section bar 33; the balancer 35 is connected with the roller sliding assembly 34 through a hook at the upper end of the balancer 35, so that the balancer can move along the direction of the aluminum alloy section 33; the rotary lifting ring 36 is connected with a hook at the lower end of the balancer 35, the balancer 35 realizes the movement in the vertical direction, and the power-assisted suspension device 3 realizes the movement of the ultrasonic emitter 11 and the wireless electric wrench 21 in the X, Y, Z direction.
Further, the tool support 4 is assembled by aluminum alloy section bars and used for installing the ultrasonic positioning system 1, the electric tightening system 2 and the power-assisted suspension device 3.
Further, the station support 5 comprises a steel structure support 51 and a tray positioning pin 52.
The steel structure bracket 51 is used for bearing the tray 6 and heavy objects; the tray positioning pins 52 are used for positioning the tray.
Further, the tray 6 comprises an aluminum alloy frame 61, a product positioning pin 62 and a tray positioning hole 63;
the aluminum alloy frame 61 is used for placing a product to be assembled; the product positioning pin 62 is used for positioning a product to be assembled, so that the relative position of the product to be assembled and the tray 6 is fixed; the tray positioning hole 63 is used for being matched with the tray positioning pin 52 of the station support 5, so that the relative position of the tray 6 and the station support 6 is fixed.
Further, the AGV7 is used for carrying the tray 6, and the operation of carrying the tray between the different station brackets 5 is realized.
The control methods related to the ultrasonic system controller 13 and the tightening system controller 22 of the present invention are well known in the art, and will not be described in detail herein.
Before the system is used, an operator finishes the setting of the screw tightening torque through an operation button of the electric tightening system 2, can set a plurality of programs at one time, and selects the corresponding tightening torque according to the specification of the screw; the teaching and programming of the positions of a plurality of screws of a certain product is completed through the ultrasonic positioning system 1, the assembly process programs of the products can be set at one time, and corresponding programs are selected according to different products. After the setting is completed, the ultrasonic positioning system 1 is started through the touch display 14 or the keyboard, the touch display 14 prompts the position of a first screw to be assembled of a certain product, when the wireless electric wrench 22 moves to the position of the first screw, the touch display 14 displays that the current position is correct, and the wireless electric wrench 21 can be started; manually triggering a starting switch of the wireless electric wrench 21 to start screwing, and immediately stopping running when the wireless electric wrench 21 reaches a set torque; the touch display 14 prompts the position of the second screw to be assembled of a certain product, the actions are repeatedly completed, and the assembly operation of all the screws is completed according to the set screw assembly process sequence. Note that, when the cordless electric wrench 21 is not touching the screw position to be installed indicated by the display 14 or the assembly has been completed at this position, the cordless electric wrench 21 cannot be activated and an alarm message is displayed on the touch display 14.
The automatic screw positioning device is reasonable in structure and controllable in cost, can accurately position and prompt the mounting position of screws, can realize screw assembly sequence monitoring and torque control, ensures the quality of the screws, avoids the problems that manual neglected assembly, non-screw assembly sequence mounting and the like affect the product performance, and meanwhile, automatic AGV handling is adopted, batch automatic production of products is realized, and the production efficiency is improved. The invention is particularly suitable for occasions with strict requirements on the screw assembly sequence and the torque of products.
Claims (10)
1. A screw fool-proofing tightening system based on ultrasonic positioning is characterized by comprising an ultrasonic positioning system (1), an electric tightening system (2), a power-assisted suspension device (3), a tool support (4), a station support (5), a tray (6) and an AGV (7);
the ultrasonic positioning system (1), the electric tightening system (2) and the power-assisted suspension device (3) are arranged on the tool bracket (4); the ultrasonic positioning system (1) is used for teaching screw positions, arranging process sequences and participating in controlling the starting and stopping of the electric tightening system (2); the electric tightening system (2) is used for tightening screws and feeding back torque; the power-assisted suspension device (3) is used for moving and hovering the electric tightening system (2);
the station support (5) is arranged in the tool support (4), is fixed on the ground and is used for placing and positioning the tray (6); the tray (6) is placed on the station support (5) and positioned, and is used for placing and positioning products; AGV (7) set up in station support (5), and station support (5) both sides are opened, and AGV (7) liftable and both sides are free to be removed for tray (6) are carried between station support (5).
2. An ultrasonic positioning-based screw fool-proofing tightening system according to claim 1, characterized in that the electric tightening system (2) comprises a wireless electric wrench (21) and a tightening system controller (22), the wireless electric wrench (21) is used for assembling the screw and feeding back the torque to the tightening system controller (22), the tightening system controller (22) is used for setting the tightening torque of the screw and controlling the start and stop of the wireless electric wrench (22) together with the ultrasonic positioning system (1).
3. An ultrasonic positioning-based screw fool-proofing tightening system according to claim 2, characterized in that the ultrasonic positioning system (1) comprises an ultrasonic transmitter (11), an ultrasonic receiver (12), an ultrasonic system controller (13) and a display device; the ultrasonic wave transmitter (11) is communicated with the ultrasonic wave receiver (12), the ultrasonic wave transmitter (11) is used for positioning the wireless electric wrench (21), the ultrasonic wave system controller (13) is used for teaching and programming a screw assembling sequence and is communicated with the electric tightening system (2), and the display device is used for selecting screw installation information.
4. An ultrasonic positioning-based screw fool-proofing tightening system according to claim 3, characterized in that the display device employs a touch display (14).
5. The screw foolproof tightening system based on ultrasonic positioning as claimed in claim 3, characterized in that the power-assisted suspension device (3) comprises two linear slide rails (31), a box-type sliding block (32), an aluminum alloy section bar (33), a roller sliding assembly (34), a balancer (35) and a rotary lifting ring (36); the 2 linear slide rails (31) are arranged on two sides of the tool bracket (4); two ends of the aluminum alloy section bar (33) are respectively connected with the corresponding linear slide rails (31) in a sliding manner through box-type sliding blocks (32); the roller sliding assembly (34) is arranged on the aluminum alloy section (33) and is in sliding connection with the aluminum alloy section (33); the balancer (35) is connected with the roller sliding assembly (34) through a hook at the upper end of the balancer; the rotary lifting ring (36) is connected with a hook at the lower end of the balancer (35) and moves up and down through the balancer (35); the rotary lifting ring (36) is fixedly connected with an ultrasonic emitter (11) and a wireless electric wrench (21).
6. An ultrasonic positioning-based screw fool-proofing tightening system according to claim 5, characterized in that the ultrasonic transmitter (11) and the ultrasonic receiver (12) are in data communication by infrared.
7. An ultrasonic positioning-based screw foolproof tightening system as defined in claim 5 wherein said electric tightening wrench (21) communicates with tightening system controller (22) via wireless network.
8. An ultrasonic positioning-based screw fool-proofing tightening system according to claim 1, characterized in that the ultrasonic system controller (13) is in data communication with the tightening system controller (22), the ultrasonic receiver (12) and the display device, respectively, in a wired manner.
9. The screw foolproof tightening system based on ultrasonic positioning is characterized in that the station bracket (5) comprises a steel structure bracket (51) and a tray positioning pin (52), wherein the steel structure bracket (51) is used for bearing a tray (6) and a heavy object; the tray positioning pin (52) is used for positioning the tray (6).
10. An ultrasonic positioning-based screw fool-proofing tightening system according to claim 9, characterized in that the tray (6) comprises an aluminum alloy frame (61), a product positioning pin (62) and a tray positioning hole (63), wherein the aluminum alloy frame 61 is used for placing a product to be assembled; the product positioning pin 62 is used for positioning a product to be assembled, so that the relative position of the product to be assembled and the tray 6 is fixed; the tray positioning holes 63 are used for being matched with the tray positioning pins (52) of the station support (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210917339.2A CN115106767A (en) | 2022-08-01 | 2022-08-01 | Screw fool-proof screwing system based on ultrasonic positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210917339.2A CN115106767A (en) | 2022-08-01 | 2022-08-01 | Screw fool-proof screwing system based on ultrasonic positioning |
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| Publication Number | Publication Date |
|---|---|
| CN115106767A true CN115106767A (en) | 2022-09-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210917339.2A Pending CN115106767A (en) | 2022-08-01 | 2022-08-01 | Screw fool-proof screwing system based on ultrasonic positioning |
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| CN (1) | CN115106767A (en) |
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| CN113601158A (en) * | 2021-08-23 | 2021-11-05 | 深圳职业技术学院 | Bolt feeding and pre-tightening system based on visual positioning and control method |
| CN216939339U (en) * | 2022-03-02 | 2022-07-12 | 深圳市海厚实业有限公司 | Fool-proof nailing machine |
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2022
- 2022-08-01 CN CN202210917339.2A patent/CN115106767A/en active Pending
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| CN102121827A (en) * | 2010-11-29 | 2011-07-13 | 浙江亚特电器有限公司 | Positioning system of mobile robot and positioning method thereof |
| CN103659257A (en) * | 2013-12-16 | 2014-03-26 | 延锋伟世通汽车电子有限公司 | Automatic screw locking device based on computer vision |
| CN205600267U (en) * | 2016-04-28 | 2016-09-28 | 天合富奥汽车安全***（长春）有限公司 | Automatic screw up device |
| WO2017216087A1 (en) * | 2016-06-14 | 2017-12-21 | Kuka Roboter Gmbh | Joining unit, joining device and joining method |
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Country or region after: China Address after: 222061 No.18, Shenghu Road, Lianyungang City, Jiangsu Province Applicant after: The 716th Research Institute of China Shipbuilding Corp. Applicant after: JIANGSU JARI TECHNOLOGY GROUP Co.,Ltd. Applicant after: China Shipbuilding Digital Information Technology Co.,Ltd. Address before: 222061 No.18, Shenghu Road, Lianyungang City, Jiangsu Province Applicant before: The 716th Research Institute of China Shipbuilding Corp. Country or region before: China Applicant before: JIANGSU JARI TECHNOLOGY GROUP Co.,Ltd. Applicant before: CSIC Information Technology Co.,Ltd. |