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Screw tightening system based on man-machine interaction type six-axis robot and screw feeder

A six-axis robot, interactive technology, applied in the direction of manipulator, program-controlled manipulator, metal processing equipment, etc., can solve the problems of not in place, unable to adjust torque, excessive tightening and so on

Pending Publication Date: 2022-03-08
AEROSPACE HI TECH HLDG GROUP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the current screw tightening method still cannot adjust the torque according to the actual situation of the screw and the screw hole, resulting in excessive or insufficient tightening, and proposes a six-axis robot based on human-computer interaction and screw supply. machine screw tightening system

Method used

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  • Screw tightening system based on man-machine interaction type six-axis robot and screw feeder
  • Screw tightening system based on man-machine interaction type six-axis robot and screw feeder
  • Screw tightening system based on man-machine interaction type six-axis robot and screw feeder

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specific Embodiment approach 1

[0014] Specific implementation mode 1: The screw tightening system based on the human-computer interactive six-axis robot and the screw supply machine in this embodiment includes: a screw tightening module and a screw supply module;

[0015] The screw tightening module is implemented based on a human-computer interaction robot, including: a screw hole coordinate acquisition module, a screw monitoring module, and a screw tightening judgment module;

[0016] The screw hole coordinate acquisition module is used to acquire the coordinates of the screw holes to be screwed into, and screw the screws into the screw holes according to the coordinates of the screw holes to be screwed into;

[0017] The screw monitoring module is used to monitor the number of screw tightening circles and screwdriver torque;

[0018] The screw tightening judging module is used to judge whether the screw tightening is qualified according to the information monitored by the screw monitoring module;

[001...

specific Embodiment approach 2

[0020] Specific embodiment two: the screw hole coordinate acquisition module is used to acquire the coordinates of the screw holes to be screwed into, and the acquisition is obtained in the following manner:

[0021]

[0022] Among them, μ(x, y) is the coordinate of the center of the screw hole to be screwed into, is the center coordinate of the sample screw hole (preset in the program), Sθ is the area of ​​the sample screw hole (preset in the program), Sμ is the area of ​​the screw hole to be screwed into (actual measurement), and 1.08 is the tolerance ratio (empirical value).

[0023] The sample screw hole area is the standard area of ​​the current screw type.

specific Embodiment approach 3

[0024] Specific embodiment three: the screw tightening determination module is used to judge whether the screw tightening is qualified according to the information monitored by the screw tightening monitoring module, and judge by the following methods:

[0025] When the screwdriver torque reaches the preset lower limit, determine whether the number of tightening circles is within the qualified range of the preset number of tightening circles: if it is less than the qualified range of the preset tightening circles, continue to tighten. If the number of tightening turns does not reach the qualified range of the preset tightening turns after setting the upper torque limit, it is judged as unqualified; if it reaches the lower limit of the qualified range of the preset tightening turns, and the torque does not exceed the preset torque upper limit, it is judged as qualified and End the judgment; if it exceeds the qualified range of the preset tightening circles, it will be judged as ...

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Abstract

The invention discloses a screw tightening system based on a man-machine interaction type six-axis robot and a screw feeder, and relates to the technical field of screw locking. The invention aims to solve the problems that the torque cannot be adjusted according to the actual conditions of a screw and a screw hole in the conventional screw tightening method, and the tightening is excessive or not in place. The device comprises a screw tightening module and a screw supply module, the screw tightening module comprises a screw hole coordinate acquisition module, a screw monitoring module and a screw tightening judgment module; the screw hole coordinate acquisition module is used for acquiring coordinates of screw holes and screwing screws into the screw holes according to the coordinates of the screw holes; the screw monitoring module is used for monitoring the number of tightening turns of a screw and the torque of a screwdriver; the screw tightening judgment module is used for judging whether the screw tightening is qualified or not according to the information monitored by the screw monitoring module; the screw supply module is used for providing screws for the screw tightening module. The device is used for controlling screw tightening.

Description

technical field [0001] The invention relates to the technical field of screw locking, in particular to a screw tightening system based on a human-machine interactive six-axis robot and a screw supply machine. Background technique [0002] There are hundreds of thousands of screw tightening actions in the automobile assembly workshop every day. These screw tightening actions represent the quality of the product. If the screw is not tightened or the position of the screw is deviated, it is likely to cause a serious accident after the car leaves the factory, thereby posing a threat to life and property. [0003] The existing screw locking system is divided into two types: manual tightening and automatic tightening. Manual tightening mostly uses a fixed torque, and the locking time is fixed, which means that the screw is locked in place. Automatic tightening uses a fixed torque and stops tightening when the torque and position synchronization reaches the acceptable range. Sin...

Claims

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Application Information

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IPC IPC(8): B23P19/06B23P19/00B25J9/16
CPCB23P19/06B23P19/001B25J9/1687
Inventor 卜家洛高成鼎李占双赵海洋刘刚
Owner AEROSPACE HI TECH HLDG GROUP
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