Narrow space bolt positioning and installing robot and control method
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A technology of bolt positioning and robotics, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., and can solve problems such as inability to assemble, difficulty in manually operating tools, and limited visible range
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Problems solved by technology
[0002]
Assembly in a narrow space has always been a difficult problem in the field of automated assembly. In a narrow space, due to reasons such as low visibility, small visible range, and large axial depth of installation, other assembly tools must be used for installation. However, due to Assembly tools are not coordinated by the human eye, making manual tool manipulation difficult
When the axial installation depth is greater than the reach of human hands, it is basically impossible to install with ordinary installation tools
Method used
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Embodiment 1
[0084] Such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 and Figure 6 As shown, the present invention discloses a bolt positioning installation robot in a narrow space. The robot is mainly used for assembling threaded holes in a narrow space. The structure mainly includes an installation platform 1 for fixing and installing the robot, and a fixed plate, fixture 4 for tightening bolts, industrial robot 3 for driving fixture 4 to a specified position, motion module 2 for driving industrial robot 3 translation, and processing image data and driving each execution The widget's controller. The installation platform 1 is fixed, the fixed plate is installed on the installation platform 1, the motion module 2 is installed on the fixed plate, the tooling fixture 4 is installed at the end of the industrial robot 3, and the industrial robot 3 is installed on the moving On the module 2, the controller is electrically connected to the motion module 2, the industrial ro...
Embodiment 2
[0138] The invention provides a bolt positioning and installation robot in a narrow space, which specifically includes a mechanical unit, a control unit, a drive unit, a vision unit, and a display operation unit.
[0139] Preferably, the mechanical unit includes a 6-joint general-purpose industrial robot 3, a special fixture 4, and a motion module 2.
[0140] Preferably, the 6-joint general-purpose industrial robot 3 adopts a motor-built-in six-joint series structure, wherein each arm has a fully expanded length of 1500mm, a maximum arm diameter of 100mm, a minimum arm diameter of 60mm, and a maximum load of 300Kg, which can be used in a narrow space of 200mm. work inside.
[0141] Preferably, the 6-joint general-purpose industrial robot 3 is made of materials such as aluminum alloy, steel parts, and ABS plastic, and its weight reaches about 35kg.
[0142] Preferably, the 6-joint general-purpose industrial robot 3 is equipped with a pressure sensor, which can automatically st...
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Abstract
The invention discloses a narrow space bolt positioning and installing robot and a control method. The narrow space bolt positioning and installing robot comprises an installing platform, a fixing plate, a tool fixture, an industrial robot, a movement module and a controller. The control method comprises the steps of firstly moving a bolt and a washer to an axis position of a driven gear, supporting the bolt and the washer through a spring force, then downwards moving a connecting block, installing the bolt onto the driven gear, and resetting a spring to fix the bolt; then vision guiding for avoiding obstacles through a camera, and sending the fixture to a preset position capable of shooting a thread hole through a robot arm; and adopting the robot for automatically positioning a target thread hole, sending the position of the thread hole to the robot arm and locking the position, rotating the fixture to enable the bolt to align at the thread hole, starting to move downwards under the drive of the gear, stopping the assembling of the first bolt when a sensor touches a bottom plate, automatically carrying the robot to a preset position of a next thread hole through a module motor, and carrying out the next round of assembling until all assembling is finished.
Description
technical field [0001] The invention relates to the field of industrial robots, in particular to a robot for positioning and installing bolts in a narrow space and a control method thereof. Background technique [0002] Assembly in a narrow space has always been a difficult problem in the field of automated assembly. In a narrow space, due to reasons such as low visibility, small visible range, and large axial depth of installation, other assembly tools must be used for installation. However, due to Assembly tools do not get the cooperation of the human eye, making manual handling of the tools quite difficult. When the axial installation depth is greater than the reach of human hands, it is basically impossible to install with ordinary installation tools. Therefore, the prior art needs to be further improved and perfected. Contents of the invention [0003] The object of the present invention is to overcome the deficiencies of the prior art and provide a robot for positi...
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