CN115415787A - Explosion-proof type automatic assembly special plane system - Google Patents
Explosion-proof type automatic assembly special plane system Download PDFInfo
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- CN115415787A CN115415787A CN202210394463.5A CN202210394463A CN115415787A CN 115415787 A CN115415787 A CN 115415787A CN 202210394463 A CN202210394463 A CN 202210394463A CN 115415787 A CN115415787 A CN 115415787A
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- 238000001514 detection method Methods 0.000 claims abstract description 31
- 239000012636 effector Substances 0.000 claims abstract description 25
- 238000012546 transfer Methods 0.000 claims abstract description 24
- 239000000758 substrate Substances 0.000 claims description 13
- 238000001179 sorption measurement Methods 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 7
- 230000000903 blocking effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 17
- 239000002360 explosive Substances 0.000 abstract description 13
- 230000000977 initiatory effect Effects 0.000 abstract description 13
- 230000008569 process Effects 0.000 abstract description 13
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 4
- 230000032258 transport Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000012360 testing method Methods 0.000 description 5
- 238000010521 absorption reaction Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000013072 incoming material Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000037452 priming Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000010959 steel Substances 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
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
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Abstract
The application discloses an explosion-proof automatic assembly special machine system, and belongs to the field of intelligent manufacturing; the system comprises a six-axis robot, a robot end effector, a transfer cart assembly and a cylinder positioning and locking platform. The invention has the advantages and effects that: the invention can realize automatic loading of certain type of initiating explosive devices and automatic screwing and detection operation of the upper end cover bolt group through remote control, meets the explosion-proof requirement in the whole assembly process, is applied to the automatic assembly and online detection production line of the initiating explosive devices, can greatly improve the assembly quality and the bolt connection accuracy, shortens the assembly time, reduces the labor intensity of personnel, and improves the safety of the personnel in the production operation process.
Description
Technical Field
The application relates to the technical field of intelligent manufacturing, in particular to an explosion-proof type automatic assembly special machine system.
Background
The safety and reliability of the product are directly affected by the quality of the assembly of the initiating explosive device, and the ignition testing device plays a very key role in the subsequent ignition testing. The initiating explosive device comprises a cylinder body, a cylinder body positioned in the cylinder body, and an end cover connected with the end part of the cylinder body through a bolt.
With the rise of intelligent manufacturing, the development mode of modern industry has changed, and gradually moves to the production of intellectualization, informatization and automation, and at present, the assembly operation of the initiating explosive device mainly adopts manual operation, the average number of assemblies per day is more than 70-80, the labor intensity is large, the number of field operation people is large, the production efficiency is low, the tightening quality is not reliable, the working procedures are dispersed and are not tightly connected with each other; and personnel and column work piece direct contact have great personal safety hidden danger, can not keep up with the development yet.
As a key technology for initiating explosive device development, the nation gives full attention to the automatic assembly and detection technology of initiating explosive devices in recent years, basically guarantees the requirements of product technology and production, but has defects; the production equipment cannot completely meet the technical requirements of the assembly process, the automation degree is low, the safety is not comprehensively solved, and the reliability is poor; the industry is closed, the popularization of a new technology is difficult, and the engineering capability cannot be formed. In order to change the situation that the assembly process technology and equipment of the initiating explosive device are relatively lagged, and realize the automatic production of the initiating explosive device assembly, a six-axis robot is adopted, and the six-axis robot has the characteristics of high efficiency, high stability, simple structure and easiness in maintenance, and becomes an indispensable part in an automatic factory and a flexible manufacturing system.
Disclosure of Invention
The invention aims to solve the technical problem of providing an explosion-proof automatic assembly special machine system which can completely realize the assembly automation, integration and detection intellectualization of key processes of initiating explosive devices in the assembly process and realize the functions of explosion prevention and remote control of equipment. The efficiency and the assembly quality are improved, and the safety is improved.
The method and the device are combined with a columnar workpiece grabbing system, a vision system and an automatic tightening system which are integrated on an actuator substrate on the robot and the robot end actuator to realize the identification and measurement of the actual positions of the columnar workpiece, the cylinder and the bolt group, so that the full-automatic tightening and torque detection process of bolt connection in the assembling process is realized; in addition, a transfer cart and a barrel positioning and locking platform in the special machine system are arranged, so that the working procedures of incoming material transportation and clamping and finished product transfer of the initiating explosive device without assembly parts are realized, and the full-automatic treatment of key working procedures is formed. The assembly of the initiating explosive device is completed in a highly intelligent, integrated and automatic manner.
The technical scheme is as follows:
an explosion-proof automatic assembly special machine system comprises six robots, a transfer cart assembly and a cylinder positioning and locking platform, wherein the six robots are provided with robot end effectors, and the cylinder positioning and locking platform is used for positioning a cylinder; the transfer cart assembly is used for transferring the cylinder workpiece to one side of the cylinder positioning and locking platform; the robot end effector is used for transferring the cylinder workpiece from the transfer cart assembly into the cylinder.
The six-axis robot is rotatably connected with an actuator base plate, the robot end actuator comprises a columnar workpiece grabbing system, a visual system and a servo tightening system, the columnar workpiece grabbing system is used for grasping and loosening a cylinder, the visual system is used for identifying and positioning the columnar workpiece and the cylinder, the servo tightening system is used for fastening a bolt, and the columnar workpiece grabbing system, the visual system and the servo tightening system are sequentially connected with the actuator base plate.
The columnar workpiece grabbing system comprises a three-jaw clamping module, a vacuum adsorption module and a lifting module for driving the vacuum adsorption module to move up and down, wherein the three-jaw clamping module comprises a clamping jaw air cylinder connected to an actuator substrate, the clamping jaw air cylinder is provided with three linear sliding blocks moving in the horizontal direction, and the linear sliding blocks are respectively provided with a clamping jaw; the vacuum adsorption module comprises a sucker mounting rack and a plurality of vacuum suckers connected to the sucker mounting rack, and the sucker mounting rack is located below the clamping jaw air cylinder and between the clamping jaws.
The clamping jaw is provided with a barrel sensor module, and the lower end of the barrel detection sensor is flush with the lower end of the clamping jaw.
The lifting module comprises a lifting cylinder connected to the actuator substrate, a connecting piece connected to a piston rod of the lifting cylinder, and at least three guide shafts connected between the connecting piece and the sucker mounting frame, wherein the guide shafts are connected with the sucker mounting frame.
The buffer component is arranged between the guide shaft and the connecting piece and comprises a first connecting sleeve, a spring, a second connecting sleeve and a connecting sleeve end cover, the first connecting sleeve is fixedly connected to the top end of the guide shaft, the second connecting sleeve is arranged outside the first connecting sleeve and can slide along the axis direction of the first connecting sleeve, the spring is clamped between the first connecting sleeve and the second connecting sleeve, the connecting sleeve end cover is connected to the top of the first connecting sleeve and sleeved outside the second connecting sleeve, and the connecting piece is fixedly connected to the outside of the second connecting sleeve.
The connecting piece is connected with a spring sensor; when the spring sensor does not face the end cover of the connecting sleeve, a descending stopping signal is sent to the lifting cylinder.
The lifting cylinder is connected with a cylinder mounting plate, at least three mounting plate supports are connected between the cylinder mounting plate and the actuator base plate, and the connecting piece extends out of the space between two adjacent mounting plates and is connected with the guide shaft.
The transfer trolley assembly comprises a movable trolley frame, and the surface of the trolley frame is connected with a plurality of stop blocks for limiting and blocking the cylinder workpiece and the cylinder to be assembled; the barrel positioning and locking platform comprises a platform frame, the platform frame is provided with a trolley vacancy for pushing the transfer trolley assembly, and the platform frame is rotatably connected with a plurality of guide wheels for guiding the transfer trolley assembly to enter at two sides of the trolley vacancy; the surface of the platform frame is provided with a cylinder positioning cylinder and a cylinder locking cylinder, a piston rod of the cylinder positioning cylinder is connected with a cylinder clamping jaw, a piston rod end of the cylinder locking cylinder is connected with a V-shaped clamping jaw, and the cylinder clamping jaw and the V-shaped clamping jaw are right opposite.
Transport and be provided with positioner between shallow subassembly and the barrel location locking platform, positioner including connect in the location cardboard of shallow frame, connect in platform frame's shallow locking cylinder, after the shallow vacancy is pushed into to the shallow frame, the piston rod of shallow locking cylinder stretches out and pegs graft with the location cardboard along level and perpendicular to shallow frame push direction.
In summary, the present application at least includes the following beneficial technical effects:
the invention can meet the explosion-proof requirement of the whole system in the priming system assembly link, and meanwhile, the high integration of screwing, recognition, grabbing, adsorption, sensors and the like is realized, the key process full-automatic treatment is realized by matching with a machine, and the automatic filling of the columnar workpieces of the test pieces and the automatic screwing and detection of the bolt group of the upper end cover of the cylinder are realized by applying the device on a production line. The assembly time and the labor intensity of operators are reduced, the assembly quality and the bolt connection precision are improved, the efficiency is improved, and the safety of personnel is ensured; the tightening sleeve can be replaced and matched according to the type of the bolt, and the visual recognition system can recognize bolts of different types, barrels and columnar workpieces of different specifications, so that the assembly of initiating explosive devices of different types is facilitated.
Drawings
Fig. 1 is an isometric view of a system structure of an explosion-proof automatic assembly special machine in an embodiment of the invention;
FIG. 2 is an isometric schematic view of a transfer cart assembly configuration in an embodiment of the present invention;
FIG. 3 is an isometric view of a cartridge positioning and locking platform configuration in an embodiment of the invention;
FIG. 4 is an isometric schematic view of a robotic end effector structure in an embodiment of the invention;
FIG. 5 is an isometric view of a configuration of a cylindrical workpiece gripping system in a robotic end effector in an embodiment of the present invention;
FIG. 6 is a cross-sectional view of the spring sensor position in a cylindrical workpiece gripping system in an embodiment of the present invention;
fig. 7 is a schematic view of a connection structure between the lifting cylinder and the guide shaft in the embodiment of the present invention.
Description of the reference numerals:
1. a transfer cart assembly; 101. a handrail; 102. a cart frame; 103. a universal wheel; 104. laterally positioning a clamping plate; 105. a stopper; 106. an upper panel; 107. a front top plate; 108. a columnar workpiece fixture; 109. a barrel tool;
2. the cylinder positioning and locking platform; 201. a platform frame; 202. a guide wheel; 203. a cart-in-place sensor; 204. locking a cylinder shaft pin; 205. a locking cylinder; 206. the cylinder body locks the air cylinder; 207. a V-shaped clamping jaw; 208. a cylinder positioning cylinder; 209. a cylinder clamping jaw;
3. an end effector;
301. an actuator substrate; 3011. the tail end is connected with a flange; 3012. a guide sleeve;
302. a columnar workpiece grasping system;
3021. a lifting module; 30211. a lifting cylinder; 30212. a cylinder mounting plate; 30213. a connecting member; 30214. a cylinder mounting plate bracket; 3022. a spring deformation sensing detection module; 30221. a spring deformation sensing detector; 30222. a spring deformation sensing detector support;
3023. a three-jaw clamping module; 30231. a clamping jaw cylinder; 30232. a linear slider; 30233. a clamping jaw; 3024. a cartridge sensor module; 30241. a cartridge detection sensor; 30242. a cartridge detection sensor support; 3025. a vacuum adsorption module; 30251. a guide shaft; 30252. a suction cup mounting frame; 30253. a vacuum chuck; 30254. a first connecting sleeve; 30255. a spring; 30256. a second connecting sleeve; 30257. connecting sleeve end covers; 303. a vision system; 3031. an explosion-proof visual camera; 3032. a light source connecting plate; 3033. an annular light source; 304. a servo tightening system; 3041. screwing a shaft upper sealing cover; 3042. screwing the shaft support; 3043. a servo motor tightens a shaft; 3044. screwing the sleeve tightly;
4. a six-axis robot; 401. a robot mounting plate; 402. shock attenuation sucking disc.
Detailed Description
The present application will now be described in further detail with reference to the following figures and specific examples:
the embodiment of the application discloses explosion-proof type automatic assembly special plane system for when realizing the test piece assembly, the automatic packing of column work piece and the automation of upper end cover bolt group are screwed up and are detected. As shown in fig. 1, the special plane system mainly includes: transport shallow subassembly 1, barrel location locking platform 2, six robots 4, robot end effector 3, wherein the bolt fastening is passed through on robot mounting panel 401 in the base installation of six robots 4, mounting panel 301 is fixed with the contact of the vibration-damping chuck 302 of a certain amount and ground down, vibration-damping chuck 402 can reach the absorbing effect, robot end effector 3 rotates with robot 4 to be connected, barrel location locking platform 2 is placed in the robot front side, barrel location locking platform fixes a position the barrel, transport shallow subassembly transports the cylinder work piece to barrel location locking platform one side, robot end effector transports the cylinder work piece to the barrel from transporting shallow subassembly in.
As shown in fig. 2, the transfer cart assembly 1 includes a cart frame 102, the cart frame is provided with four universal wheels 103 at the lower end thereof, an upper panel 106 is provided at the upper end of the cart frame 102, a front top plate 107 is provided at the front end of the upper panel 106, a handrail 101 is provided at the rear end of the upper panel 106, 8 stoppers 105 are provided on the surface of the upper panel 106, the stoppers 105 are formed by bending angle steel profiles, 4 stoppers are provided as a set, and the total number of the stoppers is two, and two sets of stoppers are used for respectively limiting and blocking the cylinder workpiece and the cylinder to be assembled.
As shown in fig. 3, the cylinder positioning and locking platform 2 includes a platform frame 201, the platform frame 201 is provided with a cart vacancy for pushing the transfer cart assembly, the platform frame 201 is rotatably connected with a plurality of guide wheels 202 at two sides of the cart vacancy, and the guide wheels are used for guiding the cart 1 to enter. After the transfer cart assembly 11 is loaded with the workpiece, the transfer cart 1 is manually pushed into the cart vacancy of the barrel positioning and locking platform 2.
A cart in-place detection sensor 203 is installed at the end of the cart vacancy and used for detecting whether the cart 1 is completely pushed in. The transport cart lateral positioning clamping plate 104 is arranged at one end of the side surface 106 of the upper panel, the positioning clamping plate 104 is a plate body with an opening, the upper end of the middle part of the platform frame 2 is provided with a cart locking cylinder 205, the front end of the cart locking cylinder 205 is connected with a shaft pin 204, a piston rod of the cart locking cylinder 205 extends out after the cart frame 102 is in place, and the piston rod of the pin cart locking cylinder 205 drives the shaft 204 to push the positioning clamping plate 104 at the side end of the cart, so that the cart 1 cannot move in a large range. Thus, the work of the workpiece entering the working position is completed.
A cylinder positioning cylinder 208 and a cylinder locking cylinder 206 are respectively designed on the left side and the right side of the uppermost end of the platform frame 201, a piston rod of the cylinder positioning cylinder 208 is connected with a cylinder clamping jaw 209, a piston rod end of the cylinder locking cylinder 206 is connected with a V-shaped clamping jaw 207, the cylinder clamping jaw 209 and the V-shaped clamping jaw 207 are right opposite, and the cylinder diameter of the cylinder positioning cylinder 208 is larger than that of the cylinder clamping cylinder 206, so that the position of the cylinder is the positioning reference position when the cylinder positioning cylinder 208 completely extends out, after an air source is opened by the two cylinders, the V-shaped clamping jaw 207 extends out during working, the piston rods of the cylinder positioning cylinder 208 and the cylinder locking cylinder 206 extend out, the cylinder clamping jaw 209 and the V-shaped clamping jaw 207 are driven to be close to each other, and the cylinder is positioned and clamped.
As shown in fig. 4, an actuator base plate 301 is rotatably connected to the six-axis robot 4, the robot end effector 3 includes a columnar workpiece gripping system 302, a vision system 303, and a servo tightening system 304, an end connecting flange 3011 is provided at a central position of an upper surface of the actuator base plate 301, the end connecting flange 3011 is connected to an end of the robot 4 by a bolt, the columnar workpiece gripping system 302 and the servo tightening system 304 are connected to both end positions of the actuator base plate 301 by a bolt, and the vision system 303 is connected to the actuator base plate 301 by a bolt and is located between the columnar workpiece gripping system 302 and the servo tightening system 304.
As shown in fig. 4, the cylindrical workpiece handling system 302 includes a three-jaw clamp module 3023, a lift module 3021, a vacuum module 3025, and a lift module 3021 for moving the vacuum module 3025 up and down.
As shown in fig. 5, the three-jaw clamping module 3023 includes a jaw cylinder 30231, the jaw cylinder 30231 is fixedly mounted on the lower surface of the actuator base plate 301, three linear sliders 30232 are disposed on the jaw cylinder 30231, the linear sliders 30232 move along the radial direction of the jaw cylinder 30231, each linear slider 30232 has one jaw 30233, and the total number of the jaws 30233 is three, and the jaw cylinder 30231 drives the jaws 30233 to grip and release when being inflated and deflated.
As shown in fig. 5, a cylinder sensor module 3024 is provided at both outer ends of the jaw 30233, the cylinder sensor module 3024 includes a cylinder detection sensor 30241 and a cylinder detection sensor holder 3024, the cylinder detection sensor 30241 is fixed on the actuator substrate 301 through the cylinder detection sensor holder 30242, and the lower end of the cylinder detection sensor 30241 is flush with the lower end of the jaw 30233 to ensure that the jaw 30233 and the cylinder do not touch each other. The cylinder detection sensor 3024 detects whether or not a metal article is present in a short distance below the cylinder to confirm the timing of releasing the jaws 30233 when the cylindrical workpiece is first placed in the cylinder. The cylinder detection sensor 30241 gradually approaches the upper edge of the cylinder during the entrance of the cylindrical workpiece into the cylinder, and the output of the cylinder detection sensor 30241 is triggered when the distance from the cylinder detection sensor 30241 to the upper edge of the cylinder is shorter than the detection distance of the cylinder detection sensor 30241. At this time, the robot should stop moving, and release the clamping jaws 30233, then the lifting module 3021 drives the vacuum absorption module 3025 to descend continuously until the cylindrical workpiece falls into the bottom of the cylinder, then the vacuum absorption module 3025 releases the cylindrical workpiece, and the robot 4 drives the end effector 3 to move up.
As shown in fig. 5, the vacuum suction module 3025 includes a suction cup mounting rack 30252, the suction cup mounting rack 30252 is located below the jaw cylinder 30231 and between the jaws 30233, 6 vacuum suction cups 30253 uniformly distributed along the circumferential direction on the suction cup mounting rack 30252, the vacuum suction cups 30253 are fixedly mounted at the lower end of the suction cup mounting rack 30252 through bolts, and the lifting module 3021 drives the suction cup mounting rack 30252 to slide up and down.
As shown in fig. 5 and 7, the lifting module 3021 includes a lifting cylinder 30211 connected to the actuator base plate 301, a connecting member 30213 connected to a piston rod of the lifting cylinder, and three guide shafts connected between the connecting member 30213 and the suction cup mounting rack 30252, a cylinder mounting plate 30212 is provided at an end portion of the cylinder 30211, three cylinder mounting plate brackets 30214 are fixedly connected between a lower cross section of the cylinder mounting plate 30212 and the actuator base plate 301 through bolts, and 3 cylinder mounting plate brackets 30214 are designed in total, so that the support strength and the vertical movement during lifting are ensured not to be tilted to generate a pause, and the smooth operation of lifting is ensured. Thereby realizing the relative fixed connection of the lifting cylinder 30211 and the actuator substrate 301. The connecting piece 30213 has a through hole at the middle for fixing on the head of the piston rod of the lifting cylinder 30211 under the condition of bolt connection, so as to realize the force transmission during lifting, and the connecting piece 30213 extends out between two adjacent mounting plates and is connected with the guide shaft. Three shaft holes are uniformly distributed on the upper surface of the sucker mounting rack 30252, one end of a guide shaft 30251 is arranged in each shaft hole, the guide shaft 30251 is connected with the sucker mounting rack 30252 through bolts, and the guide shaft 30251 penetrates through a guide sleeve 3012 arranged on the actuator substrate and slides in the guide sleeve.
As shown in fig. 6, a buffer assembly is disposed between the guide shaft 30251 and the connecting member 30213, the buffer assembly includes a first connecting sleeve 30254, a spring 30255, a second connecting sleeve 30256, and a connecting sleeve end cap 30257, the upper end of the guide shaft 30251 is threaded, the upper end of the guide shaft 30251 is connected to the first connecting sleeve 30254 by bolts, the second connecting sleeve 30256 is sleeved outside the first connecting sleeve 30254 and can slide along the axial direction of the first connecting sleeve 30254, the spring 30255 is clamped between the first connecting sleeve 30254 and the second connecting sleeve 30256, an upper end surface of the first connecting sleeve 30254 and a lower end surface inside the second connecting sleeve 30256 are supported by the spring 30255 to transmit downward power, an upper end surface of the second connecting sleeve 30256 is attached to the connecting sleeve end cap 30257, a central hole is formed in the connecting sleeve end cap 30257, a hole is formed in the upper end of the second connecting sleeve 30256 for inserting the first connecting sleeve 30254, the end surface of the first connecting sleeve 30254 is just attached to the inner surface of the connecting sleeve 30257 after the first connecting sleeve 30254 is inserted, the connecting sleeve 30257 is screwed to the connecting sleeve 30257, and the connecting sleeve 30257 is connected to the outer surface of the connecting sleeve 30257 by the connecting sleeve 30257. A hole is arranged in the middle of the connecting piece 30213 and connected with a piston rod of the lifting cylinder, three holes are uniformly distributed in the circumferential direction of the outer ring at 120 degrees and are respectively connected with the second connecting sleeve 30256, the second connecting sleeve 30256 is sleeved in the hole of the connecting piece 30213, and through holes are uniformly distributed on the lower end surface of the second connecting sleeve 30256 and connected with the connecting piece 30213 through bolts, so that the second connecting sleeve 30256 and the connecting piece 30213 are fixed relatively.
As shown in fig. 6, the connector 30213 is provided with a spring sensing module 3022, the spring sensing module 3022 includes a spring deformation sensing detector support 30222 and a spring deformation sensing detector 30221, the spring deformation sensing detector support 30221 is fixed on the outer arc surface of the connector 30213 by bolts, and the spring deformation sensing detector 30221 is connected to the spring deformation sensing detector support 30222. The head of the spring sensor 30222 faces vertically towards the connection sleeve end cap 30257.
The guide shaft 30251 and the first connecting sleeve 30254 are already bolted together, and because the guide shaft 30251 is in the guide sleeve 3012, the downward verticality is ensured, and in a downward command, the connecting piece 30213 drives the second connecting sleeve 30256, the first connecting sleeve 30254 and the connecting sleeve end cap 30257 to move downward together when the piston rod of the lifting cylinder extends, until the vacuum chuck 30253 abuts against the cylindrical workpiece, and if the vacuum chuck continues to move downward, the guide shaft 30251, the first connecting sleeve 30254 and the connecting sleeve end cap 30257 move upward relative to the second connecting sleeve 30256, and the spring 30255 is compressed.
As shown in fig. 5, when the lift module 3021 moves the vacuum absorption module 3025 downward to receive resistance, the spring 30255 is compressed, so that the first connection sleeve 30254, the connection sleeve cover 30257 and the guide shaft 30251 move upward relative to the second connection sleeve 30256, so that the first connection sleeve 30254 is lifted up and spaced from the second connection sleeve 30256 until the spring detection sensor 30221 arranged on the outer arc of the connection piece 30213 does not move toward the connection sleeve cover 30257, a downward movement stop signal is sent to the lift cylinder 30211, and based on the signal of the spring detection sensor 30221, it can be determined whether the set of suction cups 30253 is lowered to the right position (for example, when the robot goes to grasp a cylindrical workpiece, during the lowering of the robot end effector, when the vacuum suction cup 30253 contacts the cylindrical workpiece, the robot continues to move the actuator base plate 301 downward, the spring 30255 is compressed, and when the cylindrical workpiece is placed in the cylinder, when the cylindrical workpiece descends to the bottom of the cylinder, the piston rod of the lift cylinder continues to contract, and the spring 30255 is also compressed.
As shown in fig. 4, the vision system 303 includes an explosion-proof vision camera 3031, a light source connection board 3032, and an explosion-proof annular light source 3033, the explosion-proof vision camera 3031 is connected with the actuator substrate 301 by a bolt connection manner, the light source connection board 3032 is arranged on the lower end face of the explosion-proof vision camera 3031, the light source connection board 3032 is provided with the explosion-proof annular light source 3033 and is connected to the light source connection board 3032 by a bolt connection manner, and an explosion-proof film is arranged on the surface of the explosion-proof annular light source 3033 to ensure explosion-proof of the light source. The vision system 303 is used for shooting the cylinder image and calculating the cylinder position when the robot 4 moves to the upper part of the cylinder when the system runs; the robot moves to the upper part of the cylindrical workpiece, images of the cylindrical workpiece are shot, the position of the cylindrical workpiece is calculated, the whole process of identifying and positioning the cylindrical workpiece in the cylinder is completed by matching with the end effector 3, and meanwhile, when the robot moves to the upper part of the cylinder, images of the cylinder are shot, and the coordinate positions of all bolts are calculated.
As shown in fig. 4, the tightening system 304 includes a servomotor tightening shaft 3043, a tightening sleeve 3044, an upper cover 3041, and a support 3042, the servomotor is inside the cylindrical support 3042, the lower end inside the support 3042 is provided with a bolt hole to connect with the servomotor, the servomotor is provided with a tightening shaft 3043, the tightening shaft 3043 is provided with a tightening sleeve 3044, the tightening sleeve 3044 is used for tightening the bolt, the tightening shaft 3043 is connected with a torque sensor, the tightening process is controlled by the torque sensor during tightening, and the final result is detected, and meanwhile, the servomotor in the servomotor tightening system 304 is inside the explosion-proof housing, so as to achieve explosion-proof of the system.
The implementation principle of the application is as follows:
the first step is as follows: cylinder positioning and clamping work flow
During actual operation, after the transfer cart assembly 1 is loaded with a workpiece, the transfer cart assembly 1 is manually pushed into the cart vacancy of the barrel positioning and locking platform 2, and the cart in-place detection sensor 203 at the end of the cart vacancy detects that the cart 1 is completely pushed. The cart locking cylinder 205 at the upper end of the middle part of the platform frame 2 is ventilated, the control shaft pin 204 extends out and is pushed into the positioning clamping plate 104 at the side end of the cart, so that the transfer cart assembly 1 cannot move in a large range any more. Thus, the work of the workpiece entering the working position is completed.
The second step is that: working process for picking and placing columnar workpiece by robot
After the cylinder locking cylinder 206 and the cylinder positioning cylinder 208 on the platform frame 201 start the air supply, the piston rod of the cylinder positioning cylinder 208 on the platform frame extends out, the cylinder clamping jaw 209 is contacted with the cylinder to position, then the piston rod of the cylinder locking cylinder 206 on the platform frame extends out, and the cylinder clamping jaw 207 is contacted with the cylinder to clamp the cylinder workpiece.
The robot 4 drives the end effector 3 to move to the upper part of the cylinder, the explosion-proof vision camera 303 shoots images of the cylinder and calculates the position of the cylinder, and then the robot 4 drives the end effector 3 to move to the upper part of the columnar workpiece, so that the explosion-proof vision camera 3031 shoots images of the columnar workpiece and calculates the position of the columnar workpiece; then the robot 4 adjusts the attitude so that the columnar workpiece gripping system 302 is located right above the columnar workpiece (this position is calculated from the position of the columnar workpiece measured visually); the robot 4 quickly descends to the set height 1 (a height which is a sufficient safe distance from the chuck to be able to contact the cylindrical workpiece); the robot 4 drives the end effector 3 to slowly descend until the vacuum chuck contacts the columnar workpiece, and along with the continuous descending of the end effector 3, the first connecting sleeve 30254 and the connecting sleeve end cap 30257 move upwards relative to the second connecting sleeve 30256 until the connecting sleeve end cap 30257 is no longer aligned with the spring deformation detection sensor 30221, and the spring deformation detection sensor 30221 triggers; then the vacuum chuck 3025 works to start to adsorb the columnar workpiece; after the vacuum degree reaches the standard, the robot 4 drives the end effector 3 to slowly and vertically ascend for a short distance (for example, 50mm, a columnar workpiece must be really lifted up, the aim is to reset the spring 30255, and the vacuum adsorption effect is checked to ensure that the sucker does not lose efficacy in the process); then the clamping jaw 30233 works to clamp the columnar workpiece; then the robot is lifted to a set height 2 (a height which can safely move transversely and has no movement interference); the robot 4 drives the end effector 3 to move transversely, so that the adsorbed columnar workpiece is positioned right above the cylinder (the position is calculated according to the cylinder position measured by vision); at the moment, the robot descends to a set height 3 (the bottom surface of the columnar workpiece does not reach the upper edge of the cylinder yet); the robot 4 slowly descends until the cylinder detection sensor 30241 is triggered, and the robot 4 stops moving; the clamping jaw 30233 is loosened; the lifting cylinder 30211 continues to extend to enable a piston rod of the lifting cylinder 30211 to extend, and the piston rod of the lifting cylinder 30211 pushes the guide shaft 30251 to slide in the shaft sleeve 3012, so as to drive the vacuum adsorption module 3025 to move downwards and continue to place the columnar workpiece into the cylinder; when the cylindrical workpiece reaches the bottom of the cylinder body, the spring deformation detection sensor 30241 triggers to control the vacuum chuck 30253 to stop working; after the vacuum is ensured to be broken (a vacuum pressure switch signal), the lifting cylinder 30211 is contracted, the robot 4 is lifted to the set height 3 (standby height) at the same time, and then the robot returns to the standby position, and the cylindrical workpiece picking and placing operation is completed.
The third step: robot bolt tightening work flow
The robot 4 automatically moves to the upper part of the cylinder, the explosion-proof vision camera 303 shoots a cylinder picture, and the coordinate positions of all bolts are calculated; the software generates the bolt tightening steps (including the tightening sequence and tightening torque). Each screwing action is the same, namely the robot 4 drives the end effector 3 to firstly move transversely above the bolt, then the robot 4 drives the end effector 3 to enable the screwing sleeve 3044 on the end effector to move to the position of the bolt corresponding to the upper part of the cylinder body, the servo motor controls the screwing shaft 3043 to rotate after the end effector is descended, so that the screwing sleeve 3044 is screwed, meanwhile, the detected data is transmitted back through the torque sensor after the screwing is controlled, and then the robot 4 is vertically lifted to the height required by the transverse moving action. The automatic filling of the columnar workpiece of the test piece and the automatic screwing detection of the upper end cover bolt group are completed.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: equivalent changes in structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. The utility model provides an explosion-proof type automatic assembly special plane system which characterized in that: the automatic cylinder positioning and locking device comprises six-axis robots (4), a transfer cart assembly (1) and a cylinder positioning and locking platform (2), wherein the six-axis robots (4) are provided with robot end effectors (3), and the cylinder positioning and locking platform (2) is used for positioning a cylinder;
the transfer cart assembly (1) is used for transferring the cylinder workpiece to one side of the cylinder positioning and locking platform (2);
the robot end effector (3) is used for transferring the cylinder workpiece from the transfer cart assembly (1) into the cylinder.
2. The explosion-proof automatic assembly special machine system according to claim 1, characterized in that: the six-axis robot (4) is rotatably connected with an actuator substrate (301), the robot end actuator (3) comprises a columnar workpiece grabbing system (302) for grasping and loosening a cylinder, a visual system (303) for identifying and positioning the columnar workpiece and the cylinder, and a servo tightening system (304) for fastening a bolt, and the columnar workpiece grabbing system (302), the visual system (303) and the servo tightening system (304) are sequentially connected with the actuator substrate (301).
3. The explosion-proof automatic assembly special machine system according to claim 2, characterized in that: the columnar workpiece grabbing system (302) comprises a three-jaw clamping module (3023), a vacuum adsorption module (3025) and a lifting module (3021) which drives the vacuum adsorption module (3025) to move up and down, the three-jaw clamping module (3023) comprises a clamping jaw (30233) cylinder (30231) connected to an actuator substrate (301), the clamping jaw (30233) cylinder (30231) is provided with three linear sliders (30232) which move in the horizontal direction, and the linear sliders (30232) are respectively provided with a clamping jaw (30233); the vacuum suction module (3025) comprises a suction cup mounting block (30252), a plurality of vacuum suction cups (30253) connected to the suction cup mounting block (30252), the suction cup mounting block (30252) being located below the cylinder (30231) of the clamping jaws (30233) and between the clamping jaws (30233).
4. The explosion-proof automatic assembly special machine system according to claim 2, characterized in that: the clamping jaw (30233) is provided with a cylinder sensor module (3024), and the lower end of a cylinder detection sensor (30241) is flush with the lower end of the clamping jaw (30233).
5. The explosion-proof automatic assembly special machine system according to claim 2, characterized in that: the lifting module (3021) comprises a lifting cylinder (30211) connected to the actuator substrate (301), a connecting piece (30213) connected to a piston rod of the lifting cylinder (30211), and at least three guide shafts (30251) connected between the connecting piece (30213) and the sucker mounting rack (30252), wherein the guide shafts (30251) are connected with the sucker mounting rack (30252).
6. The explosion-proof automatic assembly special machine system according to claim 5, characterized in that: a buffer assembly is arranged between the guide shaft (30251) and the connecting piece (30213), the buffer assembly comprises a first connecting sleeve (30254), a spring (30255), a second connecting sleeve (30256) and a connecting sleeve end cover (30257), the first connecting sleeve (30254) is fixedly connected to the top end of the guide shaft (30251), the second connecting sleeve (30256) is sleeved outside the first connecting sleeve (30254) and can slide along the axial direction of the first connecting sleeve (30254), the spring (30255) is clamped between the first connecting sleeve (30254) and the second connecting sleeve (30256), the connecting sleeve end cover (30257) is connected to the top of the first connecting sleeve (30254) and sleeved outside the second connecting sleeve (30256), and the connecting piece (30213) is fixedly connected to the outside of the second connecting sleeve (30256).
7. The explosion-proof automatic assembly special machine system according to claim 6, characterized in that: a spring (30255) sensor is connected with the connecting piece (30213); when the spring (30255) sensor does not aim at the connecting sleeve end cover (30257), a stop downlink signal is sent to the lifting cylinder (30211).
8. The explosion-proof automatic assembly special machine system according to claim 5, characterized in that: the lifting air cylinder (30211) is connected with an air cylinder mounting plate (30212), at least three mounting plate supports are connected between the air cylinder mounting plate (30212) and the actuator substrate (301), and the connecting piece (30213) extends out of the space between two adjacent mounting plates and is connected with the guide shaft (30251).
9. The explosion-proof automatic assembly special machine system according to claim 1, characterized in that: the transfer cart assembly (1) comprises a movable cart frame (102), and the surface of the cart frame (102) is connected with a plurality of stoppers (105) for limiting and blocking the cylinder workpiece and the cylinder to be assembled;
the barrel positioning and locking platform (2) comprises a platform frame (201), the platform frame (201) is provided with a trolley vacancy for pushing the transfer trolley assembly (1), and the platform frame (201) is rotatably connected with a plurality of guide wheels (202) for guiding the transfer trolley assembly (1) to enter at two sides of the trolley vacancy;
the surface of the platform frame (201) is provided with a cylinder positioning cylinder (208) and a cylinder locking cylinder (206), a piston rod of the cylinder positioning cylinder (208) is connected with a cylinder clamping jaw (209), a piston rod end of the cylinder locking cylinder (206) is connected with a V-shaped clamping jaw (207), and the cylinder clamping jaw (209) is right opposite to the V-shaped clamping jaw (207).
10. The explosion-proof automatic assembly special machine system according to claim 9, characterized in that: transport and be provided with positioner between shallow subassembly (1) and barrel location locking platform (2), positioner including connect in the location cardboard of shallow frame (102), connect in shallow locking cylinder (205) of platform frame (201), shallow frame (102) pushes away shallow vacancy back, and the piston rod of shallow locking cylinder (205) stretches out and pegs graft with the location cardboard along level and perpendicular to shallow frame (102) push-in direction.
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| CN202210394463.5A CN115415787A (en) | 2022-04-14 | 2022-04-14 | Explosion-proof type automatic assembly special plane system |
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