CN117564682B - Automatic bolt tightening system - Google Patents
Automatic bolt tightening system Download PDFInfo
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- CN117564682B CN117564682B CN202311805102.6A CN202311805102A CN117564682B CN 117564682 B CN117564682 B CN 117564682B CN 202311805102 A CN202311805102 A CN 202311805102A CN 117564682 B CN117564682 B CN 117564682B
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- 238000007405 data analysis Methods 0.000 claims abstract description 68
- 238000011156 evaluation Methods 0.000 claims description 49
- 238000001514 detection method Methods 0.000 claims description 31
- 238000012937 correction Methods 0.000 claims description 30
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000004458 analytical method Methods 0.000 abstract description 18
- 238000000034 method Methods 0.000 description 5
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- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
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- 230000007306 turnover Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—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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Abstract
The invention relates to the technical field of bolt fastening, in particular to an automatic bolt tightening system, which comprises a data acquisition module, a data analysis module, a control execution module and an adjustment module; the data acquisition module is used for acquiring a plurality of characteristic data, the data analysis module is used for determining the fastening condition of the bolt according to the rotation angle of the bolt, the control execution module is used for controlling the robot to perform bolt fastening work, and the adjustment module is used for adjusting the working mode of the robot; according to the invention, the fastening condition of the bolt is determined by analyzing the rotation angle of the bolt, and the robot is used for fastening the loosening bolt, so that the accuracy of bolt fastening condition analysis and the accuracy and efficiency of bolt fastening are improved.
Description
Technical Field
The invention relates to the technical field of bolt fastening, in particular to an automatic bolt tightening system.
Background
At present, a plurality of bolts are required to be connected and spliced into a whole in the aspect of lifting appliance connection, because the lifting appliance works to detect the bolt fastening condition in real time, most factories adopt manual periodic detection, a large amount of manpower and time are consumed, the analysis of the bolt fastening condition is not accurate enough to cause the falling risk, once falling does not only cause long-time equipment stop line loss, but also engine breaking loss exists, and a certain safety risk exists in the treatment process.
Chinese patent publication No.: CN117066869a discloses a bolt tightening system, including tightening platform and robot equipment, it is used for supplying to wait to assemble the structure and fixes a position the clamping to screw up the platform, robot equipment includes multiaxis arm and quick change device, quick change device is including snatching the anchor clamps, screw up the sleeve and locate the terminal quick change joint of multiaxis arm, the multiaxis arm switches the butt joint between snatching the anchor clamps and screwing up the sleeve through quick change joint, and be used for driving snatch the anchor clamps and snatch to wait to assemble the structure and screw up the sleeve and screw up the bolt spare on waiting to assemble the structure, thereby can realize the automatic feeding of grip-pad and the automatic tightening of spacing bolt on the grip-pad, the purpose of improvement assembly efficiency and abundant assurance assembly reliability has been reached.
However, in the prior art, the problem of low efficiency of fastening bolts caused by insufficient accuracy of bolt fastening condition analysis and low accuracy of bolt fastening work control exists.
Disclosure of Invention
Therefore, the invention provides an automatic bolt tightening system which is used for solving the problems of low bolt tightening efficiency caused by insufficient accuracy of bolt tightening condition analysis and low accuracy of bolt tightening work control in the prior art.
To achieve the above object, an automatic bolt tightening system includes:
the data acquisition module is used for acquiring a plurality of characteristic data of the bolts and the robots, wherein the plurality of characteristic data comprise bolt images, bolt position images and robot position images acquired by the visual detection device;
The data analysis module is connected with the data acquisition module and used for determining the fastening condition of the bolt according to the rotation angle of the bolt;
The control execution module is connected with the data analysis module and used for controlling the robot to perform bolt fastening work;
the adjusting module is connected with the control executing module and used for adjusting the working mode of the robot;
The data acquisition module acquires images of the bolt and the robot through the visual detection device; the data analysis module is used for analyzing the front image and the side image of the bolt to determine the fastening condition of the bolt, and is used for analyzing the position image of the bolt and the position image of the robot to determine the position correction of the robot; the control execution module determines the working mode of the robot through the rotation angle of the bolt and the distance between the bolt and the lifting appliance; the adjusting module determines the adjustment of the working mode through the time of the next loosening of the bolt after the fastening work is completed;
The data analysis module determines the bolt fastening condition according to the comparison result of the rotation angle of the bolt and the preset rotation angle, and determines that the bolt fastening condition is loose under the condition that the rotation angle of the bolt is larger than or equal to the preset rotation angle, or determines that the data analysis module performs secondary judgment under the condition that the rotation angle of the bolt is smaller than the preset rotation angle;
The data analysis module determines the bolt fastening condition according to the comparison result of the bolt loosening evaluation value and the preset evaluation value, and determines that the bolt fastening condition is fastening under the condition that the bolt loosening evaluation value is smaller than or equal to the preset evaluation value, or determines that the bolt is photographed laterally under the condition that the bolt loosening evaluation value is larger than the preset evaluation value;
The evaluation value of the bolt looseness is calculated by the following formula, and is set:
；
wherein P represents an evaluation value of bolt looseness, N1 represents the number of looseness times in the bolt history detection, N represents the number of bolt history detection times, Weight of bolt loosening frequency to bolt loosening evaluation value is represented, T1 represents interval length of bolt from last detection, T represents preset detection interval length of bolt, and I > is represented by the weight of bolt loosening frequency to bolt loosening evaluation valueThe weight of the bolt detection interval length to the evaluation value of bolt looseness is represented.
Further, the data analysis module is used for photographing the side face of the bolt, determining the bolt fastening condition according to the distance between the bolt and the lifting appliance, and determining that the bolt fastening condition is loose under the condition that the distance between the bolt and the lifting appliance is larger than zero, or determining that the bolt fastening condition is fastening under the condition that the distance between the bolt and the lifting appliance is equal to zero.
Further, the data analysis module determines the position of the robot by the control execution module according to the coordinates of the center point of the bolt and the coordinates of the center point of the fastening device of the robot, and the control execution module corrects the position of the robot under the condition that the coordinates of the center point of the bolt are larger or smaller than the coordinates of the center point of the fastening device of the robot.
Further, the data analysis module corrects the position of the robot by determining a correction mode according to the comparison result of the horizontal coordinate and the vertical coordinate of the central point of the fastening device of the robot with zero, and the control execution module corrects the position of the robot by a first correction mode under the condition that the horizontal coordinate and the vertical coordinate of the central point of the fastening device of the robot are equal to zero, wherein the first correction mode comprises adjusting the coordinates of the edge points of the fastening device of the robot according to the coordinates of the edge points of the bolts.
Further, the data analysis module corrects the position of the robot, the correction mode is determined according to the comparison result of the horizontal coordinate and the vertical coordinate of the central point of the fastening device of the robot and zero, and the control execution module corrects the position of the robot in a second correction mode under the condition that the horizontal coordinate or the vertical coordinate of the central point of the fastening device of the robot is not equal to zero, and the second correction mode comprises the adjustment of the horizontal coordinate and the vertical coordinate of the central point of the fastening device of the robot according to the horizontal coordinate and the vertical coordinate of the central point of the bolt.
Further, the control execution module determines the working mode of the robot, including according to the distance between the bolt and the lifting appliance; the robot works in a first working mode under the condition that the distance between the bolt and the lifting appliance is equal to zero, wherein the first working mode comprises screwing the bolt at a first rotation angle.
Further, the control execution module determines the working mode of the robot, including according to the distance between the bolt and the lifting appliance; under the condition that the distance between the bolt and the lifting appliance is larger than zero, the robot works in a second working mode, and the second working mode comprises screwing the bolt at a second rotation angle.
Further, the adjusting module adjusts the working mode of the robot, the working mode of the robot is determined to be the most according to the comparison result of the interval time of the next loosening of the bolt and the preset interval time, the adjusting module adjusts the working mode of the robot under the condition that the interval time of the next loosening of the bolt is smaller than the preset interval time, and the adjusting comprises adjusting the rotation angle by a third adjusting coefficient.
Compared with the prior art, the method has the beneficial effects that the image of the bolt to be detected is obtained through the detection device, the image is compared with the bolts with the same number in the picture template library to determine the rotation angle, the accuracy of bolt fastening condition analysis is improved, the data analysis module determines the bolt fastening condition according to the comparison result of the rotation angle of the bolts and the preset rotation angle, and the efficiency of fastening the bolts is improved.
Further, whether the bolt is photographed laterally is determined according to the comparison result of the bolt loosening evaluation value and the preset evaluation value through the data analysis module, accuracy of bolt fastening condition analysis is improved, the data analysis module calculates the bolt loosening evaluation value according to the loosening frequency and the detection interval duration of the bolt, accuracy of the bolt loosening evaluation value is improved, and accuracy of bolt fastening condition analysis is improved.
Furthermore, the data analysis module is used for carrying out secondary judgment on the fastening condition of the bolt, so that the accuracy of analyzing the fastening condition of the bolt is further improved, and the data analysis module is used for photographing the side face of the bolt to determine the loosening condition of the bolt, so that the phenomenon of error analysis on the fastening condition of the bolt caused by the fact that the rotation angle of the bolt is larger than 360 degrees is effectively avoided, and the accuracy of analyzing the fastening condition of the bolt is further improved.
Further, the data analysis module determines adjustment of the preset evaluation value according to the number of loose bolts after secondary judgment and the comparison result of the ratio of the number of all bolts on the production line in a single detection period to the preset ratio, the adjustment of the secondary judgment is determined according to the effectiveness of the secondary judgment, the accuracy of bolt fastening condition analysis is improved, the data analysis module calculates the adjustment coefficient of the preset evaluation value according to the proportion of the loose bolts, the effectiveness of the preset evaluation value is improved, and the accuracy of bolt fastening condition analysis is further improved. Further, the invention compares the coordinates of the center point of the bolt with the coordinates of the center point of the fastening device of the robot through the data analysis module to determine whether to correct the position of the robot, and ensures the completion of the fastening work by adjusting the position of the robot, thereby improving the accuracy of the fastening work process of the bolt, avoiding the phenomenon of inefficiency of the fastening work caused by the deviation of the position of the robot from the bolt, and further improving the efficiency of the fastening work of the bolt.
Furthermore, the correction mode is determined by the coordinates of the central point of the fastening device of the robot and the coordinates of the central point of the bolt, so that the accuracy of positioning the fastening work of the bolt on the robot is improved, the accuracy of the fastening work of the bolt is improved, and the position of the robot is corrected by setting different correction modes, so that the accuracy of the fastening work of the bolt is further improved, and the efficiency of the fastening work of the bolt is further improved.
Further, the robot position is corrected in the horizontal direction and the vertical direction by adopting the first correction mode, so that the fastening device of the robot and the bolt are kept on the same line, the accuracy of the fastening work of the robot on the bolt is improved, the edge point of the fastening device of the robot corresponds to the edge point of the bolt by adopting the second correction mode, and then the front and rear positions are adjusted for fastening work.
Further, the working mode of the robot is determined by the control execution module according to whether a gap exists between the bolt and the lifting appliance, if the gap does not exist between the bolt and the lifting appliance, the correction angle is determined by the control execution module according to the rotation angle of the bolt, and if the gap exists between the bolt and the lifting appliance, the correction angle is determined by the control execution module according to the rotation circle number and the angle of the bolt.
Further, according to the invention, whether the adjustment module adjusts the working mode of the robot is determined according to the comparison result of the interval time of the next loosening of the bolt and the preset interval time by the data analysis module, if the interval time of the next loosening of the bolt is short, the fastening work is not in place, the fastening work is required to be adjusted, the accuracy of the fastening work of the bolt is improved, and the data analysis module calculates an adjustment coefficient according to the interval time of the next loosening of the bolt and the preset interval time, so that the accuracy of the fastening work of the bolt is further improved, and the accuracy of the fastening work of the bolt is further improved; the efficiency of the bolt tightening work.
Drawings
FIG. 1 is a schematic diagram of an automatic bolt tightening system according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating an exemplary embodiment of an adjustment module of an automatic bolt tightening system;
FIG. 3 is a flow chart of the operation of the robot of the automatic bolt tightening system according to the embodiment of the present invention;
FIG. 4 is an application scenario diagram of an automatic bolt tightening system according to an embodiment of the present invention;
in fig. 4, 1-robot, 2-cantilever, 3-first camera, 4-support arm, 5-robot fastening device, 6-bolt, 7-bracket, 8-base, 9-second camera.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of an automatic bolt tightening system according to an embodiment of the present invention; FIG. 2 is a flowchart illustrating an exemplary embodiment of an adjustment module of an automatic bolt tightening system; FIG. 3 is a flowchart of the operation of the robot of the automatic bolt tightening system according to the embodiment of the present invention.
The automatic bolt tightening system of the embodiment of the invention comprises:
the data acquisition module is used for acquiring a plurality of characteristic data of the bolts and the robots, wherein the plurality of characteristic data comprise bolt images, bolt position images and robot position images acquired by the visual detection device;
the data analysis module is connected with the data acquisition module and is used for determining the fastening condition of the bolt according to the rotation angle of the bolt;
The control execution module is connected with the data analysis module and used for controlling the robot to perform bolt fastening work;
the adjusting module is connected with the control executing module and used for adjusting the working mode of the robot;
in the embodiment of the invention, the visual detection device adopts a sea-health professional industrial camera, and the industrial camera comprises a first camera which acquires a position image of a robot below a cantilever, and a second camera which acquires a bolt image and a bolt position image on a robot fastening device.
Specifically, the data acquisition module is used for photographing the front of the bolt to obtain a bolt image and reading the RFID number of the bolt under the condition that the lifting appliance enters the detection position; the data analysis module determines the bolt fastening condition according to the comparison result of the rotation angle W of the bolt and the preset rotation angle W0;
if W is more than or equal to W0, the data analysis module determines that the bolt fastening condition is loosening;
If W is less than W0, the data analysis module determines to carry out secondary judgment on the bolt fastening condition;
however, the above-mentioned value is not limited thereto, and the person skilled in the art may adjust the value according to actual needs.
Specifically, according to the embodiment of the invention, the bolt image obtained by the detection device and the bolts with the same RFID numbers in the picture library template are analyzed through opencv to determine the rotation angle of the bolts, wherein the rotation angle of the bolts comprises the rotation angle of the bolts taking the bolt angle with the same RFID numbers in the picture library template as a reference; the front photographing comprises photographing in the direction that the bolt is perpendicular to the lifting appliance.
Specifically, the image of the bolt to be detected is obtained through the detection device, the image is compared with bolts with the same number in the picture template library to determine the rotation angle, the accuracy of bolt fastening condition analysis is improved, the data analysis module determines the bolt fastening condition according to the comparison result of the rotation angle of the bolt and the preset rotation angle, and the efficiency of fastening the bolt is improved.
Specifically, under the condition of secondarily judging the bolt fastening condition, the data analysis module determines the bolt fastening condition according to the comparison result of the bolt loosening evaluation value P and the preset evaluation value P0;
If P is less than or equal to P0, the data analysis module determines that the bolt fastening condition is fastening;
if P is more than P0, the data analysis module determines to take a side picture of the bolt;
The value of the preset evaluation value P0 is set to 0.5, but the above-mentioned value is not limited thereto, and a person skilled in the art may adjust the value according to actual needs.
Specifically, the side photographing in the embodiment of the invention comprises photographing in the direction that the bolt is parallel to the lifting appliance.
Specifically, the evaluation value P of the bolt looseness is calculated by the following formula, and is set:
；
wherein N1 represents the number of looseness in the history detection of the bolt, N represents the number of the history detection of the bolt, The weight of the evaluation value representing the bolt looseness frequency to the bolt looseness is 0.65; t1 represents the interval length of the bolt from the last detection, T represents the preset detection interval length of the bolt, and I >The weight of the evaluation value indicating the bolt loosening by the bolt detection interval length is 0.35.
Specifically, whether the bolt is photographed laterally is determined according to the comparison result of the bolt loosening evaluation value and the preset evaluation value by the data analysis module, accuracy of bolt fastening condition analysis is improved, the data analysis module calculates the bolt loosening evaluation value according to the loosening frequency and the detection interval duration of the bolt, accuracy of the bolt loosening evaluation value is improved, and accuracy of bolt fastening condition analysis is improved.
Specifically, the data analysis module determines the fastening condition of the bolt according to the distance L between the bolt and the lifting appliance under the condition of taking a side picture of the bolt;
If L is more than 0, the data analysis module determines that the bolt fastening condition is loosening;
If l=0, the data analysis module determines that the bolt tightening condition is tightening.
Specifically, the data analysis module is used for carrying out secondary judgment on the fastening condition of the bolt, so that the accuracy of the bolt fastening condition analysis is further improved, and the data analysis module is used for photographing the side face of the bolt to determine the loosening condition of the bolt, so that the phenomenon of error analysis on the fastening condition of the bolt caused by the fact that the rotation angle of the bolt is larger than 360 degrees is effectively avoided, and the accuracy of the bolt fastening condition analysis is further improved.
Specifically, the data analysis module determines that the adjustment of the preset evaluation value by the adjustment module includes adjustment of the preset evaluation value by the adjustment module according to a comparison result of a ratio C of the number of loose bolts after the secondary judgment and the number of all bolts on a production line in a single detection period to a preset ratio C0;
if C is more than C0, the data analysis module determines that the adjustment module adjusts the preset evaluation value by a first adjustment coefficient K1;
If C is less than C0, the data analysis module determines that the adjustment module adjusts the preset evaluation value by a second adjustment coefficient K2;
if c=c0, the data analysis module determines that the adjustment module does not adjust the preset evaluation value;
The value of the preset ratio C0 is 0.6, but the value is not limited thereto, and a person skilled in the art can adjust the value according to actual needs.
Specifically, the first adjustment coefficient K1 is calculated by the following formula, and is set:
；
Setting the adjusted preset evaluation value to p0' =k1 ；
The second adjustment coefficient K2 is calculated by the following formula, set:
；
Setting the adjusted preset evaluation value to p0″=k2 P0。
Specifically, the data analysis module determines the adjustment of the preset evaluation value according to the number of loose bolts after the secondary judgment and the comparison result of the ratio of the number of all bolts on the production line in a single detection period to the preset ratio, the adjustment of the secondary judgment is determined according to the validity of the secondary judgment, the accuracy of bolt fastening condition analysis is improved, the data analysis module calculates the adjustment coefficient of the preset evaluation value according to the proportion of the loose bolts, the validity of the preset evaluation value is improved, and the accuracy of bolt fastening condition analysis is further improved.
Specifically, the data analysis module determines that the control execution module corrects the position of the robot according to the coordinates S0 (x 0, y0, z 0) of the center point of the bolt and the coordinates S1 (x 1, y1, z 1) of the center point of the fastening device of the robot under the condition that the robot performs fastening work on the loose bolt;
If S1 is not equal to S0, the data analysis module determines that the control execution module corrects the position of the robot;
if s1=s0, the data analysis module determines that the control execution module does not correct the robot position.
Specifically, the invention compares the coordinates of the center point of the bolt with the coordinates of the center point of the fastening device of the robot through the data analysis module to determine whether to correct the position of the robot, and ensures the completion of the fastening work by adjusting the position of the robot, thereby improving the accuracy of the fastening work process of the bolt, avoiding the phenomenon that the fastening work is not efficient due to the deviation of the position of the robot from the bolt, and further improving the efficiency of the fastening work of the bolt.
Specifically, the data analysis module determines a correction mode according to the comparison result of the horizontal coordinate y1 and the vertical coordinates z1 and 0 of the central point of the fastening device of the robot under the condition of correcting the position of the robot;
If y1=0 and z1=0, the data analysis module determines that the control execution module corrects the robot position in a first correction mode;
If y1 is not equal to 0 or z1 is not equal to 0, the data analysis module determines that the control execution module corrects the robot position in a second correction mode.
Specifically, the correction mode is determined by the coordinates of the central point of the fastening device of the robot and the coordinates of the central point of the bolt, so that the accuracy of positioning the fastening work of the bolt on the robot is improved, the accuracy of the fastening work of the bolt is improved, and the position of the robot is corrected by setting different correction modes, so that the accuracy of the fastening work of the bolt is further improved, and the efficiency of the fastening work of the bolt is further improved.
Specifically, under the condition that the control execution module corrects the robot position in the first correction manner, the control execution module corrects the coordinates S3 (x 3, y3, z 3) of the edge point of the fastening device of the robot to the coordinates S2 (x 2, y2, z 2) of the edge point of the bolt, and then corrects x1 of the center point of the fastening device of the robot to x0;
under the condition that the control execution module corrects the robot position in the second correction mode, the control execution module corrects y1 and z1 of the center point of the fastening device of the robot to y0 and z0 of the center point of the bolt.
In the embodiment of the invention, the first coordinate system is established by taking the center of the bolt as the origin, and the coordinate S0 of the center point of the bolt is (0, 0).
Specifically, the invention ensures that the fastening device of the robot and the bolt are kept on the same line by firstly correcting the position of the robot in the horizontal and vertical directions by adopting a first correction mode, improves the accuracy of the fastening work of the robot on the bolt, and further improves the accuracy of the fastening work of the bolt by adopting the method by adopting the second correction mode to adjust the front and rear positions to fasten the bolt after the edge point of the fastening device of the robot corresponds to the edge point of the bolt.
Specifically, under the condition that the position of the robot is determined, the control execution module determines the working mode of the robot according to the distance L between the bolt and the lifting appliance;
If l=0, the data analysis module determines that the robot works in a first working mode;
if L is more than 0, the data analysis module determines that the robot works in the second working mode.
Specifically, the robot screws up the bolt at a first rotation angle W1 under the condition that the robot works in a first working mode;
the robot screws up the bolts at a second rotation angle W2 under the condition that the robot works in the second working mode.
Specifically, the first rotation angle W1 is a rotation angle of the bolt relative to the same bolt in the picture library template;
the second rotation angle W2 is calculated by the following formula, and is set:
360；
Where L0 represents the distance the bolt rotates 360 degrees.
Specifically, the working mode of the robot is determined by the control execution module according to whether a gap exists between the bolt and the lifting appliance, if the gap does not exist between the bolt and the lifting appliance, the correction angle is determined by the control execution module according to the rotation angle of the bolt, and if the gap exists between the bolt and the lifting appliance, the correction angle is determined by the control execution module according to the rotation number and the angle of the bolt.
Specifically, the data analysis module determines whether the adjustment module adjusts the working mode of the robot according to the comparison result of the interval time fatter of the next loosening of the bolt and the preset interval time fatter 0 under the condition that the fastening work of the robot is completed;
If T < T0, the data analysis module determines that the adjustment module adjusts the working mode of the robot;
If T is more than or equal to T0, the data analysis module determines that the adjustment module does not adjust the working mode of the robot;
The value of the preset interval time T0 is the average value of the historical loosening interval time of the bolt.
Specifically, the adjustment module adjusts the first rotation angle and the second rotation angle by a third adjustment coefficient K3 under the condition of adjusting the working mode of the robot.
Specifically, the third adjustment coefficient K3 is calculated by the following formula, and is set:
；
Setting the adjusted first rotation angle to W1' =k3 W1；
Setting the adjusted second rotation angle to W2' =k3W2。
Specifically, according to the invention, whether the adjustment module adjusts the working mode of the robot is determined according to the comparison result of the interval time of the next loosening of the bolt and the preset interval time by the data analysis module, if the interval time of the next loosening of the bolt is short, the fastening work is not in place, the fastening work needs to be adjusted, the accuracy of the fastening work of the bolt is improved, and the data analysis module calculates the adjustment coefficient according to the interval time of the next loosening of the bolt and the preset interval time, so that the accuracy of the fastening work of the bolt is further improved, and the efficiency of the fastening work of the bolt is improved.
Referring to fig. 4, fig. 4 is an application scenario diagram of the automatic bolt tightening system according to the embodiment of the invention.
The invention has the application scene that more than 400 sleeves of the lifting tool are totally arranged on site and are used for lifting the engine assembly lifting tool to carry out workshop turnover, and the lifting tool is fixed by adopting bolts in the aspect of a fixed bracket so as to ensure the integral precision of the lifting tool and complete the safe turnover of the engine lifting tool.
In fig. 4, the application scenario is that the bolt automatic tightening system performs bolt tightening on a group of lifting tools, wherein the lifting tools comprise a base 8, a supporting arm 4 which is arranged above the base 8 and is connected with the base 8 to support a cantilever 2, a bracket 7 which is arranged on the side of the supporting arm 4 and is connected with the supporting arm 4 to support an engine, a bolt 6 which is arranged on the surface of the bracket to fixedly connect the bracket with the supporting arm, a cantilever 2 which is arranged above the supporting arm and is connected with the supporting arm to hoist the engine, and a first camera 3 which is arranged below the cantilever to acquire an image of the robot 1.
The robot 1 moves to one side of the lifting appliance to screw the bolt 6 on the lifting appliance, and a second camera 9 for acquiring an image of the bolt is arranged at the front part of the fastening device 5 of the robot.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An automatic bolt tightening system, comprising:
the data acquisition module is used for acquiring a plurality of characteristic data of the bolts and the robots, wherein the plurality of characteristic data comprise bolt images, bolt position images and robot position images acquired by the visual detection device;
The data analysis module is connected with the data acquisition module and used for determining the fastening condition of the bolt according to the rotation angle of the bolt;
The control execution module is connected with the data analysis module and used for controlling the robot to perform bolt fastening work;
the adjusting module is connected with the control executing module and used for adjusting the working mode of the robot;
The data acquisition module acquires images of the bolt and the robot through the visual detection device; the data analysis module is used for analyzing the front image and the side image of the bolt to determine the fastening condition of the bolt, and is used for analyzing the position image of the bolt and the position image of the robot to determine the position correction of the robot; the control execution module determines the working mode of the robot through the rotation angle of the bolt and the distance between the bolt and the lifting appliance; the adjusting module determines the adjustment of the working mode through the time of the next loosening of the bolt after the fastening work is completed;
The data analysis module determines the bolt fastening condition according to the comparison result of the rotation angle of the bolt and the preset rotation angle, and determines that the bolt fastening condition is loose under the condition that the rotation angle of the bolt is larger than or equal to the preset rotation angle, or determines that the data analysis module performs secondary judgment under the condition that the rotation angle of the bolt is smaller than the preset rotation angle;
The data analysis module determines the bolt fastening condition according to the comparison result of the bolt loosening evaluation value and the preset evaluation value, and determines that the bolt fastening condition is fastening under the condition that the bolt loosening evaluation value is smaller than or equal to the preset evaluation value, or determines that the bolt is photographed laterally under the condition that the bolt loosening evaluation value is larger than the preset evaluation value;
The evaluation value of the bolt looseness is calculated by the following formula and is set
，
Wherein P represents an evaluation value of bolt looseness, N1 represents the number of looseness times in the bolt history detection, N represents the number of bolt history detection times,Weight of bolt loosening frequency to bolt loosening evaluation value is represented, T1 represents interval length of bolt from last detection, T represents preset detection interval length of bolt, and I > is represented by the weight of bolt loosening frequency to bolt loosening evaluation valueThe weight of the bolt detection interval length to the evaluation value of bolt looseness is represented.
2. The automatic bolt tightening system according to claim 1, wherein the data analysis module determines the bolt tightening condition according to a distance between the bolt and the hanger when the bolt is photographed sideways, determines the bolt tightening condition to be loose if the distance between the bolt and the hanger is greater than zero, or determines the bolt tightening condition to be tightened if the distance between the bolt and the hanger is equal to zero.
3. The automatic screw-down system according to claim 2, wherein the data analysis module determines that the control execution module corrects the position of the robot based on the coordinates of the center point of the screw and the coordinates of the center point of the fastening means of the robot, and the control execution module corrects the position of the robot on the condition that the coordinates of the center point of the screw are greater than or less than the coordinates of the center point of the fastening means of the robot.
4. The automatic screw-down system according to claim 3, wherein the data analysis module corrects the robot position by determining a correction manner based on a comparison result of the horizontal and vertical coordinates of the center point of the fastening device of the robot with zero, and the control execution module corrects the robot position by a first correction manner including adjusting the edge point coordinates of the fastening device of the robot based on the coordinates of the edge point of the screw under the condition that the horizontal and vertical coordinates of the center point of the fastening device of the robot are equal to zero.
5. The automatic screw-down system according to claim 4, wherein the data analysis module corrects the robot position by determining a correction manner according to a comparison result of the horizontal coordinate and the vertical coordinate of the center point of the fastening device of the robot with zero, and the control execution module corrects the robot position by a second correction manner according to the horizontal coordinate and the vertical coordinate of the center point of the fastening device of the robot under the condition that the horizontal coordinate or the vertical coordinate of the center point of the fastening device of the robot is not equal to zero, the second correction manner including adjusting the horizontal coordinate and the vertical coordinate of the center point of the fastening device of the robot according to the horizontal coordinate and the vertical coordinate of the center point of the screw.
6. The automatic bolt tightening system of claim 5, wherein the control execution module determining the manner of operation of the robot comprises based on a distance between the bolt and the spreader; the robot works in a first working mode under the condition that the distance between the bolt and the lifting appliance is equal to zero, wherein the first working mode comprises screwing the bolt at a first rotation angle.
7. The automatic bolt tightening system of claim 6, wherein the control execution module determining the manner of operation of the robot comprises based on a distance between the bolt and the spreader; under the condition that the distance between the bolt and the lifting appliance is larger than zero, the robot works in a second working mode, and the second working mode comprises screwing the bolt at a second rotation angle.
8. The automatic screw-down system of claim 7, wherein the adjustment module adjusts the working mode of the robot by determining the working mode of the robot according to a comparison result of an interval time of next screw loosening and a preset interval time, and determining the working mode of the robot by the adjustment module if the interval time of next screw loosening is smaller than the preset interval time, wherein the adjustment comprises adjusting the rotation angle by a third adjustment coefficient.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103240586A (en) * | 2011-09-12 | 2013-08-14 | 电装波动株式会社 | Device for fastening screw and method of judging loosening of screw |
| CN113601158A (en) * | 2021-08-23 | 2021-11-05 | 深圳职业技术学院 | Bolt feeding and pre-tightening system based on visual positioning and control method |
| CN114820620A (en) * | 2022-06-29 | 2022-07-29 | 中冶建筑研究总院（深圳）有限公司 | Bolt loosening defect detection method, system and device |
| CN116681652A (en) * | 2023-05-10 | 2023-09-01 | 五邑大学 | Bolt loosening detection method and device, electronic equipment and storage medium |
| CN116766196A (en) * | 2023-07-11 | 2023-09-19 | 华东理工大学 | Outer hexagon bolt assembly control method, system, equipment and storage medium |
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2023
- 2023-12-26 CN CN202311805102.6A patent/CN117564682B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103240586A (en) * | 2011-09-12 | 2013-08-14 | 电装波动株式会社 | Device for fastening screw and method of judging loosening of screw |
| CN113601158A (en) * | 2021-08-23 | 2021-11-05 | 深圳职业技术学院 | Bolt feeding and pre-tightening system based on visual positioning and control method |
| CN114820620A (en) * | 2022-06-29 | 2022-07-29 | 中冶建筑研究总院（深圳）有限公司 | Bolt loosening defect detection method, system and device |
| CN116681652A (en) * | 2023-05-10 | 2023-09-01 | 五邑大学 | Bolt loosening detection method and device, electronic equipment and storage medium |
| CN116766196A (en) * | 2023-07-11 | 2023-09-19 | 华东理工大学 | Outer hexagon bolt assembly control method, system, equipment and storage medium |
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| CN117564682A (en) | 2024-02-20 |
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