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CN-121972949-A - Double-robot-cooperation fastener assembly system and assembly method

CN121972949ACN 121972949 ACN121972949 ACN 121972949ACN-121972949-A

Abstract

The invention discloses a double-robot cooperation type fastener assembling system and a double-robot cooperation type fastener assembling method, which are characterized by comprising an assembling robot (2), a clamping and positioning platform (3), a screw feeder (4), a screwing robot (5) and an electric control system, wherein the electric control system is connected with the assembling robot (2), the clamping and positioning platform (3), the screw feeder (4) and the screwing robot (5) through an upper computer, the assembling robot (2) and the screwing robot (5) are respectively arranged at two sides of the clamping and positioning platform (3), the screw feeder (4) sends screws to the side of the screwing robot (5), the torsion bar positioning and clamping is completed through visual recognition, the screwing robot is matched to complete fastening screw tightening, torque monitoring is provided, double-robot and camera communication is completed based on a PLC, cooperative assembly is realized, and the assembly quality of the existing manual process is improved through improvement of assembly efficiency.

Inventors

  • YU HAIYUE
  • ZHANG JIERU
  • YIN YUAN
  • LI ZIYU

Assignees

  • 北京新风航天装备有限公司

Dates

Publication Date
20260505
Application Date
20260206

Claims (6)

  1. 1. The double-robot-cooperation fastener assembling system is characterized by comprising an assembling robot (2), a clamping and positioning platform (3), a screw feeder (4), a screwing robot (5) and an electric control system, wherein the electric control system is connected with the assembling robot (2), the clamping and positioning platform (3), the screw feeder (4) and the screwing robot (5) through an upper computer; wherein the assembling robot (2) and the screwing robot (5) are respectively arranged at two sides of the clamping and positioning platform (3); the screw feeder (4) feeds screws beside the screwing robot (5); the clamping and positioning platform (3) comprises an optical platform (31), a support frame (32), a pneumatic three-jaw chuck (33), an auxiliary compression cylinder (34), a lower component positioning cylinder (35) and a compression cylinder (36), wherein the support frame (32) is arranged on the optical platform (31), the pneumatic three-jaw chuck (33) is reversely arranged on the lower surface of an upper transverse plate of the support frame (32), the auxiliary compression cylinder (34) and the compression cylinder (36) are symmetrically arranged on the optical platform (31) relative to the center of the pneumatic three-jaw chuck (33), and the two lower component positioning cylinders (35) are symmetrically arranged on the optical platform (31) below the auxiliary compression cylinder (34) and the compression cylinder (36) so as to provide symmetrical compression force; in operation, the upper part of the product (1) to be assembled is gripped by the pneumatic three-jaw chuck (33), the lower part of the product (1) to be assembled is positioned by the two lower part positioning cylinders (35), and the auxiliary pressing cylinder (34) and the pressing cylinder (36) are clamped from two sides.
  2. 2. The double-robot-cooperation fastener assembling system according to claim 1 is characterized in that the assembling robot (2) comprises a clamping assembling end (21), a quick-change master disc (22) and a mechanical arm I (23), wherein the quick-change master disc (22) is fixed on an end flange of the cooperation mechanical arm I (23), and the clamping assembling end (21) is sucked by controlling the on-off air suction of the quick-change master disc (22) through an output signal of the cooperation mechanical arm I (23).
  3. 3. The double-robot cooperative fastener assembling system according to claim 1 or 2, wherein the screwing robot (5) comprises a mechanical arm II (51) and a screwing gun (52), the mechanical arm II (51) is in signal connection with the screwing gun (52), and the mechanical arm II (51) controls the action of the screwing gun (52) through an output signal.
  4. 4. A dual robot cooperative fastener assembly system as claimed in claim 2 or 3, wherein the clamp assembly end (21) comprises a torsion bar clamping jaw (211), a two-finger cylinder (212), a connecting plate (213), a quick-change sub-disc (214), an electric module (215), a mounting plate (216), a camera (217) and a light source (218), wherein the torsion bar clamping jaw (211) is mounted on a pneumatic finger of the two-finger cylinder (212), the two-finger cylinder (212) is fixed on the connecting plate (213), the connecting plate (213) is mounted on the quick-change sub-disc (214) together with the mounting plate (216), the camera (217) is coaxial with the light source (218) and is fixed on the mounting plate (216), and the electric module (215) is mounted on one side of the quick-change sub-disc (214) and provides an electric interface and a network interface required by the camera (217) and the light source (218).
  5. 5. A double robot co-acting fastener assembly system according to claim 1, wherein the product (1) to be assembled comprises an upper part (11), a torsion bar (12), a lower part (13), a fastening screw (14) and a locating pin (15), the upper part (11) and the lower part (13) having a mateable relationship, the torsion bar (12) penetrating into the bores of the upper part (11) and the lower part (13), the torsion bar being secured to the upper part by the fastening screw (14) and the torsion bar (12) being secured to the lower part (13) by the locating pin (15).
  6. 6. A method of double robot cooperative fastener assembly using a double robot cooperative fastener assembly system of claim 4, the method comprising the steps of: Firstly, establishing an assembly mechanical arm I (23) user coordinate system according to the fixed position of a support frame (32) of a clamping and positioning platform (3), taking the axial direction of an inner hole of a product as the Y direction of the mechanical arm I (23), opening a pneumatic three-jaw chuck (33), placing a primary assembly product at the pneumatic three-jaw chuck (33) through an assembly robot (2), closing the three-jaw chuck, clamping a cylinder of an upper part of the product by the chuck, and establishing a mechanical arm I (23) TCP on a symmetrical surface of the product, wherein the related primary assembly product state mainly comprises the steps of assembling the upper part (11) and the lower part (13), enabling the axial line of the inner hole of the upper part to be coaxial, penetrating a torsion bar (12) into the inner hole, and enabling the tail end of the torsion bar (12) to be about 50mm away from the tail ends of the upper part (11) and the lower part (13); step two, the assembly robot (2) closes the two-finger cylinder (212), controls the axis of the robot (6) to coincide with the axis of the inner hole, axially positions the torsion bar (12) through the plane of the torsion bar clamping jaw (211), pushes the torsion bar into the inner hole for about 20mm, and axially positions the torsion bar; step three, moving the assembly robot (2), enabling the camera (217) to cover the tail end of the torsion bar (12), communicating with the camera (217) through the assembly robot (2), controlling the camera to identify the angle of the tail end (12) of the torsion bar, and sending the angle of the torsion bar to the mechanical arm I (23) through communication; Step four, the mechanical arm I (23) receives the tail end angle of the torsion bar (12), moves the torsion bar clamping jaw (211) to the axial positioning position of the torsion bar, opens the two-finger cylinder (212), and the assembly robot (2) shifts the clamping distance of the torsion bar (12) towards the Y direction, converts the angle of the torsion bar (12) into the rotation angle of the torsion bar clamping jaw (211), closes the two-finger cylinder (212), and fixes the tail end process hole of the torsion bar (12) through the positioning hole of the torsion bar clamping jaw (211) to finish the clamping of the torsion bar; step five, the assembly robot (2) clamps the torsion bar (12) to push the torsion bar into the upper part (11), so that the threaded hole at the front end of the torsion bar (12) is aligned with the counter bore of the upper part (11); Step six, the assembly robot (2) communicates with the screwing robot (5), the screwing robot (5) receives signals to start to act, the screw feeder (4) is controlled to discharge nails, the screwing gun (52) sucks the screws, fastening of the fastening screws is completed, and the screwing torque of the screws is controlled through the screwing controller; Step seven, an auxiliary compression cylinder (34) and a compression cylinder (35) extend out simultaneously, a positioning pin (15) is pressed into a lower part (13) under the action of air pressure, and the lower part (13) is connected with a torsion bar (12); And step eight, the auxiliary pressing cylinder (34) and the pressing cylinder (35) retract, and the robot leaves the platform to complete the assembly of the fastener.

Description

Double-robot-cooperation fastener assembly system and assembly method Technical Field The invention relates to a double-robot cooperation type fastener assembling system and a double-robot cooperation type fastener assembling method, in particular to a double-robot cooperation type fastener assembling method. Background In the manual assembly process of a certain foldable part, after the torsion bar penetrates into the foldable part, the front end of the torsion bar is connected with the upper part through a locking screw, the rear end of the torsion bar is connected with the lower part through a locating pin, the axis of the torsion bar is kept in a relatively parallel state with the axis of an inner hole of the upper component and the lower component in the process, and the rear end of the torsion bar stores larger torsion force before the locating pin is installed, so that the rear end of the torsion bar needs to be stably clamped. In the manual assembly process, because the inner hole of the upper part is a blind hole, the axial position is difficult to control after the torsion bar is inserted, the torsion bar storage torsion is larger in the installation positioning pin process, the rear end of the torsion bar is difficult to stably clamp, and the lower part of the folding part is in a movable state, so that the torsion bar pin hole and the lower part pin hole are difficult to align, the relative position relationship between the torsion bar and the upper part and the lower part is difficult to control in the manual assembly process, and the assembly efficiency is low. Disclosure of Invention The invention aims to provide a double-robot-cooperation fastener assembling system and method, which are used for solving the problem of low assembling efficiency in the existing manual operation process. The double-robot-cooperation fastener assembling system is characterized by comprising an assembling robot 2, a clamping and positioning platform 3, a screw feeder 4, a screwing robot 5 and an electric control system, wherein the electric control system is connected with the assembling robot 2, the clamping and positioning platform 3, the screw feeder 4 and the screwing robot 5 through an upper computer; Wherein the assembling robot 2 and the screwing robot 5 are respectively arranged at two sides of the clamping and positioning platform 3; the screw feeder 4 feeds screws to the side of the screwing robot 5; The clamping and positioning platform 3 comprises an optical platform 31, a support frame 32, an air three-jaw chuck 33, an auxiliary pressing cylinder 34, a lower part positioning cylinder 35 and a pressing cylinder 36, wherein the support frame 32 is arranged on the optical platform 31, the air three-jaw chuck 33 is inversely arranged on the lower surface of a transverse plate on the support frame 32, the auxiliary pressing cylinder 34 and the pressing cylinder 36 are symmetrically arranged on the optical platform 31 relative to the center of the air three-jaw chuck 33, and the two lower part positioning cylinders 35 are symmetrically arranged on the optical platform 31 below the auxiliary pressing cylinder 34 and the pressing cylinder 36 to provide symmetrical pressing force; in operation, the upper part of the product 1 to be assembled is gripped by the pneumatic three-jaw chuck 33, and the lower part of the product 1 to be assembled is positioned by the two lower part positioning cylinders 35, with the auxiliary hold-down cylinders 34 and 36 clamped from both sides. The assembling robot 2 comprises a clamping assembling end 21, a quick-change master disc 22 and a mechanical arm I23, wherein the quick-change master disc 22 is fixed on an end flange of the cooperative mechanical arm I23, and the clamping assembling end 21 is sucked by controlling the on-off of the quick-change master disc 22 through output signals of the cooperative mechanical arm I23. The screwing robot 5 comprises a mechanical arm II51 and a screwing gun 52, the mechanical arm II51 is in signal connection with the screwing gun 52, and the mechanical arm II51 controls the screwing gun 52 to act through an output signal. The clamping assembly tail end 21 comprises a torsion bar clamping jaw 211, a two-finger cylinder 212, a connecting plate 213, a quick-change sub-disc 214, an electric module 215, a mounting plate 216, a camera 217 and a light source 218, wherein the torsion bar clamping jaw 211 is arranged on a pneumatic finger of the two-finger cylinder 212, the two-finger cylinder 212 is fixed on the connecting plate 213, the connecting plate 213 and the mounting plate 216 are arranged on the quick-change sub-disc 214 together, the camera 217 and the light source 218 are coaxial and fixed on the mounting plate 216 together, the electric module 215 is arranged on one side of the quick-change sub-disc 214, and the electric module 215 provides electric interfaces and network interfaces required by the camera 217 and the light source 218.