CN115254661B - Automatic bolt screening and tightening device, method and equipment and storage medium - Google Patents
Automatic bolt screening and tightening device, method and equipment and storage medium Download PDFInfo
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- CN115254661B CN115254661B CN202210766775.4A CN202210766775A CN115254661B CN 115254661 B CN115254661 B CN 115254661B CN 202210766775 A CN202210766775 A CN 202210766775A CN 115254661 B CN115254661 B CN 115254661B
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- 238000012216 screening Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000003860 storage Methods 0.000 title claims abstract description 9
- 230000000007 visual effect Effects 0.000 claims abstract description 32
- 238000007599 discharging Methods 0.000 claims abstract description 9
- 239000002184 metal Substances 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 6
- 238000013461 design Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 6
- 210000001503 joint Anatomy 0.000 claims description 5
- 230000003993 interaction Effects 0.000 claims description 4
- 238000004080 punching Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 16
- 230000006870 function Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- 230000006378 damage Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The device, the method, the equipment and the storage medium for automatically screening and screwing the bolts are characterized in that a feeder base is fixedly connected with a feed inlet through a metal fitting; the discharging hole is fixedly connected with the inner side of the feeding box through a bolt; the flexible vibration disc is connected with the feeder base; the bottom of the fixer is respectively fixed at the left side and the right side of the feeder base, and the middle of the fixer is respectively fixed at the left side and the right side of the feed inlet; the visual camera is arranged at the upper part and the central position of the fixer; the mechanical arm is connected with the upper part of the fixer through a bolt, and the three-jaw clamp of the bolt is fixed at the front end of the mechanical arm; the tightening robot is connected with the robot base through a fixing piece and a bolt, and the robot base is fastened with the ground by punching an expansion bolt; the tightening machine is fixed on the tightening robot through a clamp; the mechanical arm, the visual camera, the tightening robot and the tightening machine are all connected with a numerical control computer.
Description
Technical Field
The invention belongs to the technical field of bolt devices, and particularly relates to an automatic bolt screening and tightening device, an automatic bolt screening and tightening method, automatic bolt screening and tightening equipment and a storage medium.
Background
Under the current large-scale direction of intelligent manufacturing in China, as the requirements of markets for high quality of products increase, the industrial fine production competition is increased. In the production and manufacturing industry, the operation efficiency, quality control and intelligent application degree of each flow become key nodes of quality competition.
The bolt is the most common part in industrial production, and is widely applied to various industries such as machinery, electronics, industrial products and the like to play a role in connection and fastening. In the automobile production process, a part of key stations relate to the assembly of various bolts with different types, and different tightening torques or angles are needed for different bolts. In the first aspect, during tightening, different bolts in the traditional production process are placed in different material boxes, the material boxes are placed beside a production line, the bolts are manually selected in the material boxes, then the bolts are placed in a setting position, and then the screws are reversely rotated according to the threads of the screws by using a spanner to fasten the bolts. In the mode, the labor intensity of workers is high, and the workers repeatedly reciprocate in the material rack and the production line, so that fatigue production is easy to cause; in the second aspect, most of the time in the operation process moves with the physical position of the person, so that the working efficiency is low; in the third aspect, during the production process, because manual operations are adopted for bolt selection, bolt placement and bolt tightening, the phenomena of wrong bolt selection, wrong position placement and wrong screwing missing screwing are easy to occur, and supervision is lacking. Therefore, potential safety hazards are brought to the product, the life safety of consumers is endangered, and the quality of the product is reduced.
The requirements of the current assembly line on lean production and product quality are increased, and the fault tolerance rate of manual operation is also lower and lower. The production line technology pursues extremely time-saving and labor-saving, and reduces the cost as much as possible. And the workers still need to manually select back and forth when executing some screwing operations on the assembly line, and manually execute the operations and automatically judge the results.
With the continuous development and progress of production technology, the degree of automation is higher and higher, and an improved basic tool and an implementation method are provided in the execution process of bolt selection and tightening of a feeder.
In the prior art, patent document CN208771884U discloses a "bolt screening machine", as shown in fig. 1, a cylinder is used as power, a mechanical connecting rod structure is used as an auxiliary, a manual and automatic locking clamp is replaced, the whole structure is simple, an operator can be effectively replaced, the line stopping loss caused by poor product quality, equipment damage, personnel mechanical injury, equipment maintenance and product maintenance due to human causes is eliminated, and the market competitiveness of the product is improved.
In summary, the existing bolt operation flow easily causes manual fatigue production, low working efficiency and low product quality.
Disclosure of Invention
The invention solves the problems of easy manual fatigue production, low working efficiency and low product quality of the existing bolt operation flow.
The invention relates to an automatic bolt screening and tightening device which comprises a feeder base 1, a feed inlet 2, a discharge outlet 3, a flexible vibration disc 4, a fixer, a visual camera 8, a mechanical arm 9, a three-jaw bolt clamp 10, a robot base 11, a tightening robot 12, a tightening machine 13 and a numerical control computer 15, wherein the feeder base is provided with a plurality of bolts;
The feeder base 1 is fixedly connected with the feeding port 2 through a metal fitting;
The discharging hole 3 is fixedly connected with the inner side of the feeding box 2 through bolts;
The flexible vibration disc 4 is connected with the feeder base 1;
the bottom of the fixer is respectively fixed at the left side and the right side of the feeder base 1, and the middle of the fixer is respectively fixed at the left side and the right side of the feed inlet 2;
The visual camera 8 is arranged at the upper part and the central position of the fixer;
The mechanical arm 9 is connected with the upper part of the fixer through a bolt, and the bolt three-jaw clamp 10 is fixed at the front end of the mechanical arm 9;
the tightening robot 12 is connected with the robot base 11 through a fixing piece and a bolt, and the robot base 11 is fastened with the ground by punching an expansion bolt;
The tightening machine 13 is fixed on the tightening robot 12 through a clamp;
the mechanical arm 9, the visual camera 8, the tightening robot 12 and the tightening machine 13 are all connected with the numerical control computer 15.
Further, in one embodiment of the present invention, the flexible vibration plate 4 includes a vibration plate outer groove 100, a plate upper edge 200, a plate carrying bottom plate 210, a plate vibration bolt groove position 220 and a plate inner bevel angle 211;
The tray bearing chassis 210 is connected with the tray upper edge 200, and the tray upper edge 200 is fixedly connected with the vibration tray outer groove 100 and the tray inner bevel 211;
A plurality of tray shock bolt slots 220 are provided within the tray load floor 210.
Further, in one embodiment of the present invention, the numerical control computer 15 includes a vision PLC, a robot arm PLC, a tightening robot PLC, and a tightening machine PLC.
Further, in an embodiment of the present invention, the numerical control computer 15 is used for visual management of the mechanical arm 9, running track management of the mechanical arm 9, parameter design of the tightening robot 12, data collection of the mechanical arm 9 and the tightening robot 12, signal interaction of the mechanical arm 9 and the tightening robot 12, and monitoring of the working state of the flexible vibration disk 4.
Further, in one embodiment of the invention, the apparatus further comprises a tightening robot power supply 14;
the tightening robot power supply 14 connects the automatic tightening device with a power supply.
Further, in one embodiment of the present invention, the fixer includes two mechanical arm columns 5, a mechanical arm bracket 6, a hoisting base and a cable running bridge 7;
the mechanical arm support 6 is fixed on the two mechanical arm upright posts 5;
The hoisting base and the cable routing bridge 7 are fixed on the mechanical arm bracket 6.
The invention relates to an automatic bolt screening and tightening method, which is realized by adopting the automatic bolt screening and tightening device, and comprises the following steps:
s1, placing a bolt into a feed inlet 2, and primarily adjusting the position of the bolt by the feed inlet 2 and discharging the bolt from a discharge outlet 3;
Step S2, the feeder base 1 drives the flexible vibration disc 4 to vibrate through motor movement, bolts with different sizes slide into corresponding holes of the flexible vibration disc 4 under vibration, the visual camera 8 shoots and examines the holes of the flexible vibration disc 4, if the positions are unqualified, the flexible vibration disc 4 vibrates again, and if the positions are qualified, the flexible vibration disc 4 returns to the waiting machine position;
Step S3, the visual camera 8 sends the bolt position information to the numerical control computer 15, and the numerical control computer 15 analyzes and selects a required bolt according to the operation requirement;
Step S4, the numerical control computer 15 controls the mechanical arm 9 to prepare to select bolts, the mechanical arm 9 drives the three-jaw bolt clamp 10 to clamp the bolts, the numerical control computer 15 records and examines whether the grabbing result is qualified, if the grabbing of the bolts is unsuccessful, the mechanical arm 9 drives the three-jaw bolt clamp 10 to clamp the bolts again, and if the grabbing of the bolts is successful, the mechanical arm 9 and the three-jaw bolt clamp 10 return to the waiting machine position;
step S5, the mechanical arm 9 sends the bolts to the corresponding positions according to the programming requirement and returns to the waiting machine position after inserting the bolts into the screw holes;
Step S6, after the numerical control computer 15 receives the bolt in-place completion signal, the numerical control computer 15 controls the screwing robot 12 to the corresponding position to be screwed;
Step S7, the numerical control computer 15 receives a tightening robot 12 in-place signal and notifies the tightening machine 13 to select a corresponding process, and the numerical control computer 15 issues a tightening instruction to the tightening robot 12 and the tightening machine 13;
Step S8, after the tightening is completed, the numerical control computer 15 records and examines whether the tightening result is qualified, if the tightening result is unqualified, the tightening robot 12 and the tightening machine 13 are re-tightened, and if the tightening result is qualified, the tightening robot 12 and the tightening machine 13 return to the waiting machine position.
The invention relates to an electronic device, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
A memory for storing a computer program;
And the processor is used for realizing the method steps when executing the program stored in the memory.
A computer-readable storage medium according to the present invention stores a computer program which, when executed by a processor, implements the method steps described in the above method.
The invention solves the problems of easy manual fatigue production, low working efficiency and low product quality of the existing bolt operation flow. The method has the specific beneficial effects that:
According to the automatic bolt screening and tightening device, grooves with different bolt specifications are added above a tray of a feeder, so that bolt screening in a flexible shaking process is realized, a visual camera is arranged above a tightening shaft above the feeder, bolts are identified, and the bolts are aligned to tightening positions according to programming; after alignment is completed, the tightening robot runs to a designated position, and a tightening process instruction corresponding to the bolt is issued to the tightening gun. And simultaneously monitoring whether the tightening torque meets the qualified requirement. The design has the advantages of simple structure, high reliability and long service life, namely, the time for manually selecting bolts, checking fasteners, aligning screw holes and selecting screwing programs is reduced, and meanwhile, the wrong screwing and missing screwing probability is reduced.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
Fig. 1 is a block diagram of a bolt screening machine described in the background art.
Fig. 2 is a flowchart of an automatic bolt screening and tightening operation according to an embodiment.
Fig. 3 is a diagram of an automatic bolt screening and tightening operation structure according to an embodiment, wherein 1 is a feeder base, 2 is a feeding box, 3 is a discharge port, 4 is a flexible vibration disc, 5 is a mechanical arm stand, 6 is a mechanical arm support, 7 is a hoisting base and a cable wire bridge, 8 is a visual camera, 9 is a mechanical arm, 10 is a three-jaw bolt clamp, 11 is a tightening robot base, 12 is a tightening robot, 13 is a tightening machine, 14 is a tightening robot power supply, and 15 is a digital control computer.
Fig. 4 is a diagram of a flexible vibration plate according to an embodiment, 100 is an outer groove of a vibration plate, 200 is an upper edge of the plate, 210 is a plate carrying chassis, 220 is a vibration bolt groove position of the plate, and 211 is an inner oblique angle of the plate.
Fig. 5 is a view of a visual camera according to an embodiment.
Fig. 6 is a diagram of a three-jaw clamp for bolts according to an embodiment.
Fig. 7 is a diagram of a tightening robot according to an embodiment.
Fig. 8 is a schematic diagram of an automatic bolt screening and tightening operation according to an embodiment.
Detailed Description
Various embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings. The embodiments described by referring to the drawings are exemplary and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The automatic bolt screening and tightening device comprises a feeder base 1, a feed inlet 2, a discharge outlet 3, a flexible vibration disc 4, a fixer, a visual camera 8, a mechanical arm 9, a three-jaw bolt clamp 10, a robot base 11, a tightening robot 12, a tightening machine 13 and a numerical control computer 15;
The feeder base 1 is fixedly connected with the feeding port 2 through a metal fitting;
The discharging hole 3 is fixedly connected with the inner side of the feeding box 2 through bolts;
The flexible vibration disc 4 is connected with the feeder base 1;
the bottom of the fixer is respectively fixed at the left side and the right side of the feeder base 1, and the middle of the fixer is respectively fixed at the left side and the right side of the feed inlet 2;
The visual camera 8 is arranged at the upper part and the central position of the fixer;
The mechanical arm 9 is connected with the upper part of the fixer through a bolt, and the bolt three-jaw clamp 10 is fixed at the front end of the mechanical arm 9;
the tightening robot 12 is connected with the robot base 11 through a fixing piece and a bolt, and the robot base 11 is fastened with the ground by punching an expansion bolt;
The tightening machine 13 is fixed on the tightening robot 12 through a clamp;
the mechanical arm 9, the visual camera 8, the tightening robot 12 and the tightening machine 13 are all connected with the numerical control computer 15.
In this embodiment, the flexible vibration plate 4 includes a vibration plate outer groove 100, a plate upper edge 200, a plate bearing chassis 210, a plate vibration bolt groove 220 and a plate inner bevel 211;
The tray bearing chassis 210 is connected with the tray upper edge 200, and the tray upper edge 200 is fixedly connected with the vibration tray outer groove 100 and the tray inner bevel 211;
A plurality of tray shock bolt slots 220 are provided within the tray load floor 210.
In this embodiment, sliding grooves are formed in two sides of the bottom of the flexible vibration plate 4, and the flexible vibration plate 4 is in butt joint with the feeder base 1 through the grooves.
In this embodiment, the numerical control computer 15 includes a vision PLC, a mechanical arm PLC, a tightening robot PLC, and a tightening machine PLC.
In this embodiment, the numerical control computer 15 is used for visual management of the mechanical arm 9, running track management of the mechanical arm 9, parameter design of the tightening robot 12, data acquisition of the mechanical arm 9 and the tightening robot 12, signal interaction of the mechanical arm 9 and the tightening robot 12, and monitoring of the working state of the flexible vibration disk 4.
In this embodiment, the device further comprises a tightening robot power supply 14;
the tightening robot power supply 14 connects the automatic tightening device with a power supply.
In this embodiment, the fixer includes two mechanical arm columns 5, a mechanical arm bracket 6, a hoisting base and a cable running bridge 7;
the mechanical arm support 6 is fixed on the two mechanical arm upright posts 5;
The hoisting base and the cable routing bridge 7 are fixed on the mechanical arm bracket 6.
The method for automatically screening and tightening the bolts according to the embodiment is realized by the automatic screening and tightening device for the bolts according to the embodiment, and comprises the following steps:
s1, placing a bolt into a feed inlet 2, and primarily adjusting the position of the bolt by the feed inlet 2 and discharging the bolt from a discharge outlet 3;
Step S2, the feeder base 1 drives the flexible vibration disc 4 to vibrate through motor movement, bolts with different sizes slide into corresponding holes of the flexible vibration disc 4 under vibration, the visual camera 8 shoots and examines the holes of the flexible vibration disc 4, if the positions are unqualified, the flexible vibration disc 4 vibrates again, and if the positions are qualified, the flexible vibration disc 4 returns to the waiting machine position;
Step S3, the visual camera 8 sends the bolt position information to the numerical control computer 15, and the numerical control computer 15 analyzes and selects a required bolt according to the operation requirement;
Step S4, the numerical control computer 15 controls the mechanical arm 9 to prepare to select bolts, the mechanical arm 9 drives the three-jaw bolt clamp 10 to clamp the bolts, the numerical control computer 15 records and examines whether the grabbing result is qualified, if the grabbing of the bolts is unsuccessful, the mechanical arm 9 drives the three-jaw bolt clamp 10 to clamp the bolts again, and if the grabbing of the bolts is successful, the mechanical arm 9 and the three-jaw bolt clamp 10 return to the waiting machine position;
step S5, the mechanical arm 9 sends the bolts to the corresponding positions according to the programming requirement and returns to the waiting machine position after inserting the bolts into the screw holes;
Step S6, after the numerical control computer 15 receives the bolt in-place completion signal, the numerical control computer 15 controls the screwing robot 12 to the corresponding position to be screwed;
Step S7, the numerical control computer 15 receives a tightening robot 12 in-place signal and notifies the tightening machine 13 to select a corresponding process, and the numerical control computer 15 issues a tightening instruction to the tightening robot 12 and the tightening machine 13;
Step S8, after the tightening is completed, the numerical control computer 15 records and examines whether the tightening result is qualified, if the tightening result is unqualified, the tightening robot 12 and the tightening machine 13 are re-tightened, and if the tightening result is qualified, the tightening robot 12 and the tightening machine 13 return to the waiting machine position.
The electronic device of the embodiment comprises a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface, the memory are communicated with each other through the communication bus;
A memory for storing a computer program;
and the processor is used for realizing the method steps in the embodiment when executing the program stored in the memory.
A computer-readable storage medium according to this embodiment stores a computer program that, when executed by a processor, implements the method steps according to the above embodiment.
The embodiment provides a practical embodiment based on the automatic bolt screening and tightening device disclosed by the invention:
As shown in fig. 2, the device adds grooves with different bolt specifications above a tray of a feeder to realize bolt screening in the flexible shaking process, and a visual camera is arranged above a tightening shaft above a feeder body to identify bolts and align the tightening positions according to programming; after alignment is completed, the tightening robot runs to a designated position, and a tightening process instruction corresponding to the bolt is issued to the tightening gun. And simultaneously monitoring whether the tightening torque meets the qualified requirement. The design has the advantages of simple structure, high reliability and long service life, namely, the time for manually selecting bolts, checking fasteners, aligning screw holes and selecting screwing programs is reduced, and meanwhile, the wrong screwing and missing screwing probability is reduced.
As shown in fig. 3, the device includes that feeder base 1 contains vibrations part, feed inlet 2, discharge gate 3, flexible vibration dish 4, arm stand 5, arm support 6, hoist and mount base and cable walk line crane span structure 7, vision camera 8, arm 9, bolt three-jaw anchor clamps 10, screw up robot base 11, screw up robot 12, screw up machine 13, screw up robot power 14 and numerical control computer 15 and contain numerical control PLC.
The feeder base 1 comprises a vibration part which is fixedly connected with the feed inlet 2 through a metal fitting;
the discharging hole 3 is connected with the inner side of the feeding hole 2 through a bolt;
The bottom of the flexible vibration disc 4 is provided with a clamping groove which is connected with the feeder base 1, the lateral direction is provided with a sliding groove, the connection is realized through butt joint of groove positions, the vibration is realized through rolling of pulleys on two sides during vibration, a signal is in butt joint with an IO port of a numerical control computer through an IO line, the vibration start and stop are controlled, and as shown in fig. 4, the vibration tray outer groove 100 is in butt joint with a rolling pulley; the upper edge 200 of the tray is provided with an inward radian to prevent the bolts from vibrating out of the tray body, and the outer part of the upper edge of the tray is provided with a clamping groove which can be fixed by the vibrator base; the tray vibration bolt slot 220 can select different trays according to different opposite edge distances of the screening bolts; the inner corners 211 of the tray are designed with oblique angles and radians, so that the bolts are prevented from being adhered, buckled and the like.
The mechanical arm 9 is connected with the mechanical arm support 6 through bolts, the mechanical arm support 6 is connected with the mechanical arm support 5, the mechanical arm control circuit is connected with the mechanical arm PLC through connecting wires, and the mechanical arm travelling data are communicated;
The mechanical arm PLC is connected with the numerical control computer through a 232 serial port line, and transmits data;
The visual camera 8 is customized to a nonstandard shell and is arranged at the center of the mechanical arm support 6, a signal passes through a 25-pin D-shaped head and is connected with a visual controller to form a data link, the visual camera is identified, the visual camera is as shown in fig. 5, the camera main body is 64.7 cm long, 2 bolt fastening positions are arranged on the camera main body, the camera shell is designed to simultaneously comprise a front section camera wrapping area and a bolt fastening point, an independent interface is arranged at the tail of the shell, and the camera is matched with a main shell fastening point and a communication line perforation.
As shown in fig. 6, the control motor drives the clamp connector to further control the expansion and compression of the clamp telescopic spring to drive the movable joint of the clamp, so as to grasp and release the front claw of the clamp.
The mechanical arm visual controller is connected with the numerical control computer through a network port RJ45, and can set, collect parameters and control the travelling track;
The tightening robot 12 is connected with the robot base 11 through a fixing piece and a bolt, the robot base 11 is fastened on the ground by punching an expansion bolt, and signals are connected with a numerical control computer through a serial port; issuing an instruction and transmitting data;
as shown in fig. 7, the tightening robot 12 is visually integrated on the robot front-section arm 9;
the software functions on the numerical control computer 15 include: the mechanical arm 9 is integrated with vision management software functions; a mechanical arm 9 running track management function; tightening the parameter design function of the robot 12; the data acquisition function of the mechanical arm 9 and the screwing robot 12; the mechanical arm 9 and the tightening robot 12 have signal interaction functions; the monitoring function of the working state of the flexible vibration disk 4.
The embodiment provides a practical embodiment based on the automatic bolt screening and tightening device disclosed by the invention:
As shown in fig. 8, the feeding port 2 completes feeding;
the discharge hole 2 is used for completing the initial bolt position adjustment and discharging;
the feeder base 1 moves through a motor to drive the flexible vibration disc 4 to vibrate;
Bolts with different sizes slide into corresponding flexible vibration disc 4 hole sites under vibration;
the visual camera 8 transmits the bolt position information to a pre-compiled numerical control computer 15 through a cable;
The numerical control computer 15 analyzes and identifies the bolts which should be selected at this time according to the operation requirement;
The numerical control computer 15 controls the mechanical arm 9 to a designated position to prepare a selected bolt;
The three-jaw bolt clamp 10 completes the clamping of the bolt;
The mechanical arm 9 sends the bolt to a specified screwing position according to the programming requirement and inserts the bolt into the screw hole, and then returns to the waiting machine position;
the numerical control computer 15 receives the bolt in-place completion signal and controls the tightening robot 12 to a specified tightening position;
the numerical control computer 15 receives the in-place signal of the tightening robot 12 and notifies the tightening machine to select a corresponding process;
the numerical control computer 15 issues a tightening instruction to the tightening robot 12 and the tightening machine 13;
further, after the tightening is completed, the system records and examines whether the tightening result is qualified or not, the tightening result is not qualified again, and the qualified tightening result is returned to the waiting machine position.
According to the method for automatically feeding, feeding and screwing the bolts, the mechanical arm 9, the visual camera 8, the screwing robot 12, the screwing machine 13 and an external circuit are connected with the industrial control PLC and the numerical control computer 15 for control. When the vision camera 8 collects images and analyzes the position information through the numerical control computer 15, the industrial control PLC obtains the analog signals of a plurality of bits 0000 to 1111 to represent the position information,
The numerical control computer 15 displays and controls the PLC;
The industrial control PLC is connected with the mechanical arm 9, the tightening robot 12 and the tightening machine 13 through wires;
The tightening controller acquires position information sent by the PLC;
The tightening controller identifies the position information and matches corresponding process parameters;
the tightening machine 13 acquires a corresponding instruction sent from a tightening controller;
the tightening machine 13 can automatically complete tightening according to the tightening object, if a problem occurs.
The assembly is simple in structure, the core components are all of industrial level protection, the reliability is high, and accidents are not easy to happen. The feeding system can realize bolt distinguishing and save manual confirmation work. The visual camera can replace a manual selection bolt; the mechanical arm can replace manual clamping bolts and send the bolts to a set position; the tightening robot can replace manual tightening. The system and the method greatly shorten the operation flow, save the labor cost, reduce the working errors, and simultaneously reduce the probability of safety damage to operators due to the potential risk of the reaction force of the tightening machine by the application of the robot.
The above description of the device, method, equipment and storage medium for automatically screening and tightening bolts provided by the invention is provided in detail, and specific examples are applied to the description of the principle and the implementation of the invention, and the description of the above examples is only used for helping to understand the method and the core idea of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (9)
1. The automatic screening and screwing device for the bolts is characterized by comprising a feeder base (1), a feed inlet (2), a discharge outlet (3), a flexible vibration disc (4), a fixer, a visual camera (8), a mechanical arm (9), a three-jaw clamp (10) for the bolts, a robot base (11), a screwing robot (12), a screwing machine (13) and a numerical control computer (15);
the feeder base (1) is fixedly connected with the feed inlet (2) through a metal fitting;
The discharging hole (3) is fixedly connected with the inner side of the feeding hole (2) through bolts;
the flexible vibration disc (4) is connected with the feeder base (1);
the bottom of the fixer is respectively fixed at the left side and the right side of the feeder base (1), and the middle of the fixer is respectively fixed at the left side and the right side of the feed inlet (2);
the visual camera (8) is arranged at the upper part and the central position of the fixer;
the mechanical arm (9) is connected with the upper part of the fixer through a bolt, and the bolt three-jaw clamp (10) is fixed at the front end of the mechanical arm (9);
The screwing robot (12) is connected with the robot base (11) through a fixing piece and a bolt, and the robot base (11) is fastened with the ground through an expansion bolt;
The tightening machine (13) is fixed on the tightening robot (12) through a clamp;
The mechanical arm (9), the visual camera (8), the screwing robot (12) and the screwing machine (13) are all connected with the numerical control computer (15);
the flexible vibration plate (4) comprises a vibration plate outer groove (100), a plate upper edge (200), a plate bearing chassis (210), a plate vibration bolt groove position (220) and a plate inner bevel angle (211);
The tray bearing chassis (210) is connected with the tray upper edge (200), and the tray upper edge (200) is fixedly connected with the vibration tray outer groove (100) and the tray inner bevel angle (211);
A plurality of tray vibration bolt slots (220) are formed in the tray bearing chassis (210);
the different size bolts slide into tray vibration bolt slots (220) of the corresponding flexible vibration plate (4) under vibration.
2. The automatic bolt screening and tightening device according to claim 1, wherein sliding grooves are formed in two sides of the bottom of the flexible vibration disc (4), and the flexible vibration disc (4) is in butt joint with the feeder base (1) through the sliding grooves.
3. The automatic bolt screening and tightening device according to claim 1, wherein the numerical control computer (15) comprises a vision PLC, a mechanical arm PLC, a tightening robot PLC and a tightening machine PLC.
4. The automatic bolt screening and tightening device according to claim 1, wherein the numerical control computer (15) is used for visual management of the mechanical arm (9), running track management of the mechanical arm (9), parameter design of a tightening robot (12), data acquisition of the mechanical arm (9) and the tightening robot (12), signal interaction of the mechanical arm (9) and the tightening robot (12) and working state monitoring of the flexible vibration disc (4).
5. An automatic bolt screening and tightening device according to claim 1, characterized in that the device further comprises a tightening robot power supply (14);
The tightening robot power supply (14) connects the automatic tightening device with the power supply.
6. The automatic bolt screening and tightening device according to claim 1, wherein the fixator comprises two mechanical arm stand columns (5), a mechanical arm support (6) and a hoisting base and cable wire bridge (7);
The mechanical arm support (6) is fixed on the two mechanical arm stand columns (5);
the hoisting base and the cable routing bridge (7) are fixed on the mechanical arm support (6).
7. An automatic bolt screening and tightening method, which is realized by adopting the automatic bolt screening and tightening device as claimed in claim 1, and is characterized by comprising the following steps:
S1, placing a bolt into a feed inlet (2), and primarily adjusting the position of the bolt by the feed inlet (2) and discharging the bolt from a discharge outlet (3);
s2, driving the flexible vibration disc (4) to vibrate by the feeder base (1) through motor movement, sliding bolts with different sizes into tray vibration bolt slots (220) corresponding to the flexible vibration disc (4) under vibration, photographing and examining the tray vibration bolt slots (220) of the flexible vibration disc (4) by the visual camera (8), if the positions are unqualified, vibrating the flexible vibration disc (4) again, and if the positions are qualified, returning the flexible vibration disc (4) to a waiting machine position;
step S3, the visual camera (8) sends the bolt position information to the numerical control computer (15), and the numerical control computer (15) analyzes and selects a required bolt according to the operation requirement;
step S4, a numerical control computer (15) controls a mechanical arm (9) to prepare to select bolts, the mechanical arm (9) drives a bolt three-jaw clamp (10) to clamp the bolts, the numerical control computer (15) records and examines whether the grabbing result is qualified, if the grabbing of the bolts is unsuccessful, the mechanical arm (9) drives the bolt three-jaw clamp (10) to clamp the bolts again, and if the grabbing of the bolts is successful, the mechanical arm (9) and the bolt three-jaw clamp (10) return to a waiting position;
s5, the mechanical arm (9) sends the bolts to corresponding positions according to programming requirements, inserts the bolts into the screw holes and returns to the waiting machine position;
Step S6, after the numerical control computer (15) receives a bolt in-place completion signal, the numerical control computer (15) controls the screwing robot (12) to a corresponding position to be screwed;
Step S7, the numerical control computer (15) receives a tightening robot (12) in-place signal and notifies the tightening machine (13) to select a corresponding process, and the numerical control computer (15) issues a tightening instruction to the tightening robot (12) and the tightening machine (13);
and S8, after the tightening is finished, the numerical control computer (15) records and examines whether the tightening result is qualified, if the tightening result is unqualified, the tightening robot (12) and the tightening machine (13) are used for re-tightening, and if the tightening result is qualified, the tightening robot (12) and the tightening machine (13) return to the waiting machine position.
8. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
A memory for storing a computer program;
A processor for implementing the method steps of claim 7 when executing a program stored on a memory.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein a computer program which, when executed by a processor, implements the method steps of claim 7.
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| CN202210766775.4A CN115254661B (en) | 2022-07-01 | 2022-07-01 | Automatic bolt screening and tightening device, method and equipment and storage medium |
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| CN115254661B true CN115254661B (en) | 2024-06-11 |
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