An assembly tooling and assembly process for an intelligent assembly and tightening workstation

Abstract

The present invention relates to an assembly tooling and an assembly process for an intelligent assembly and tightening workstation. The assembly tooling has a robot grasping part and a product installation part. The robot grasping part includes a quick-change device and a support rod. The quick-change device is used for the assembly robot to achieve quick grasping. The support rod is installed on the quick-change device to facilitate placing the assembly tooling on the workbench. The product installation part includes a moving screw, a fixed screw and a slider. The moving screw is fixedly connected to the slider and moves along with the movement of the slider. The moving screw and the fixed screw are used to fix the fitting to be assembled on the assembly tooling. The present invention realizes the intelligent assembly and tightening operation of electromechanical products, improves the automation level and production efficiency, and ensures the assembly quality and consistency of products.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent assembly and automatic tightening, and particularly relates to an assembly tooling and an assembly process for an intelligent assembly and tightening workstation. Background Art

[0002] At present, the assembly and tightening work of electromechanical products mainly rely on manual operation. Workers have a high labor intensity, low production efficiency, and low assembly accuracy, and quality problems are likely to occur. With the increase of labor costs, how to reduce labor costs and improve automation and intelligence has become an important problem that enterprises need to solve. Summary of the Invention

[0003] In order to solve the above problems, the present invention provides an assembly tooling and an assembly process for an intelligent assembly and tightening workstation. The present invention realizes the intelligent assembly and tightening operation of electromechanical products, improves the automation level and production efficiency, and ensures the assembly quality and consistency of products.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] The present invention provides an assembly tooling for an intelligent assembly and tightening workstation. The intelligent assembly and tightening workstation includes a workbench, an assembly robot, a tightening robot, a vision component, a positioning component, an AGV, and a control station. The assembly tooling has a robot grasping part and a product mounting part. The robot grasping part includes a quick-change device and a support rod. The quick-change device is used for the assembly robot to achieve quick grasping. The support rod is installed on the quick-change device to facilitate the placement of the assembly tooling on the workbench. The product mounting part includes a moving screw, a fixed screw, and a slider. The moving screw is fixedly connected to the slider and moves along with the movement of the slider. The moving screw and the fixed screw are used to fix the fitting to be assembled on the assembly tooling.

[0006] Preferably, the fitting to be assembled is provided with threaded holes that cooperate with the moving screw and the fixed screw.

[0007] Preferably, the threaded holes are either inherent to the fitting to be assembled or machined on-site.

[0008] Preferably, the intelligent assembly and tightening workstation further includes a support tooling installed on the AGV. The support tooling is used to support the assembly workpiece that cooperates with the fitting to be assembled.

[0009] Preferably, the supporting tooling includes a bracket, a lifting lug, a first positioning device, and a second positioning device. The bracket has an arc-shaped structure for stably supporting the assembled workpiece; the lifting lugs are arranged on both sides of the bracket for lifting and transporting the supporting tooling; the first positioning device and a corresponding position of the AGV form a pin-hole structure with each other, and the second positioning device and a corresponding position of the positioning assembly form a pin-hole structure with each other.

[0010] Preferably, the tightening robot includes a robot body, a vision camera, a quick-change head, and an automatic tightening gun. The tightening robot completes the positioning and automatic tightening operations between the to-be-assembled part and the assembled workpiece with the assistance of the vision camera.

[0011] Preferably, after completing the positioning and automatic tightening operations, the tightening robot automatically loosens the moving screw and the fixed screw on the assembled tooling with the assistance of the vision camera.

[0012] The present invention provides an assembly process for realizing intelligent assembly and tightening operations by using the assembled tooling. The assembly process includes the following steps:

[0013] Step 1: Assembly preparation: According to the structural dimensions of the to-be-assembled part, adjust the distance between the moving screw and the fixed screw to complete the fixation between the to-be-assembled part and the assembled tooling.

[0014] Step 2: The AGV transports the assembled workpiece into the intelligent assembly and tightening workstation, and realizes the positioning of the assembled workpiece through the pin-hole structure between the second positioning device of the supporting tooling and the corresponding position of the positioning assembly. After positioning, the AGV places the assembled workpiece on the supporting tooling.

[0015] Step 3: The assembly robot picks up the corresponding assembled tooling and the to-be-assembled part fixedly connected thereto from the workbench through the quick-change device according to the model of the assembled workpiece.

[0016] Step 4: The vision component measures the spatial position coordinates of the assembled workpiece and the to-be-assembled part through the camera. The control system carried by the control station calculates the position deviation between the two, automatically measures and plans the movement path, and drives the assembly robot to move according to the planned path to realize the precise assembly of the to-be-assembled part and the assembled workpiece.

[0017] Step 5: According to the model information of the assembled workpiece, the control system drives the tightening robot to select a suitable automatic tightening gun through the quick-change head. The tightening robot completes the positioning and automatic tightening operations between the to-be-assembled part and the assembled workpiece with the assistance of the vision camera.

[0018] Step 6: The tightening robot automatically loosens the moving screw and the fixed screw on the assembly tooling with the assistance of the vision camera, thereby removing the assembly tooling connected to the fitting to be installed.

[0019] Step 7: The assembly robot places the removed assembly tooling on the workbench.

[0020] Step 8: The AGV transports the workpiece after the assembly and tightening operations out of the intelligent assembly and tightening workstation.

[0021] Preferably, in Step 5, it further includes that after the tightening robot completes the automatic tightening operation, the collected tightening torque value is transmitted to the control system.

[0022] Preferably, before the AGV transports the assembly workpiece in Step 2, it further includes that the AGV realizes the positioning before transporting the assembly workpiece through the pin-hole structure between it and the first positioning device of the support tooling.

[0023] Compared with the prior art, the remarkable advantages of the present invention are as follows:

[0024] 1. The assembly and tightening workstation adopting the assembly tooling of the present invention improves the automation level and production efficiency of assembly and tightening while meeting the assembly accuracy and tightening quality, and ensures the assembly quality and consistency of the product.

[0025] 2. The assembly tooling realizes the intelligent grasping of the fitting or product that is not easy to grasp, and cooperates with the tightening robot to realize intelligent assembly and tightening. The assembly tooling can adjust the distance between the two screws through the slider, and can be compatible with the bolt holes at different positions on the fitting or product.

[0026] 3. The support tooling for the assembly workpiece solves the positioning problem between the cylindrical product, the AGV and the ground. During use, it saves manpower, reduces labor intensity, improves production efficiency, and can be compatible with different models of products, improving the intelligent level of assembly and tightening of the product. Description of the Drawings

[0027] Figure 1 It is the main structural schematic view of the assembly and tightening workstation adopting the assembly tooling of the present invention.

[0028] Figure 2 It is the top structural schematic view of the assembly and tightening workstation adopting the assembly tooling of the present invention.

[0029] Figure 3 It is the connection schematic diagram between the assembly tooling of the present invention and the fitting to be installed.

[0030] Figure 4 It is the structural schematic view of the tightening robot of the present invention.

[0031] Figure 5 This is a schematic structural view of the support tooling for assembling workpieces of the present invention.

[0032] In the figure: 1 - workbench, 2 - assembly tooling, 3 - assembly robot, 4 - assembled workpiece, 5 - tightening robot, 6 - vision component, 7 - support tooling, 8 - positioning component, 9 - AGV, 10 - parts to be assembled, 11-1 - moving screw, 11-2 - fixed screw, 12 - assembly tooling base, 13 - slider, 14 - quick-change device, 15 - support rod, 16 - robot body, 17 - vision camera, 18 - automatic tightening gun, 19 - quick-change head, 20 - bracket, 21 - lifting lug, 22 - first positioning device, 23 - second positioning device. Specific embodiments

[0033] In order to make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below in conjunction with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0034] The implementation of the present invention will be described in detail below in conjunction with specific embodiments.

[0035] Combined with Figures 1-5, the present invention provides an assembly tooling for an intelligent assembly and tightening workstation. The intelligent assembly and tightening workstation includes a workbench 1, an assembly robot 3, a tightening robot 5, a vision component 6, a positioning component 8, an AGV 9, and a control station. The assembly tooling 2 has a robot grasping part and a product mounting part. The robot grasping part includes a quick-change device 14 and a support rod 15. The quick-change device 14 is used for the assembly robot 3 to achieve quick grasping. The support rod 15 is installed on the quick-change device 14 to facilitate placing the assembly tooling on the workbench 1. The product mounting part includes a moving screw 11-1, a fixed screw 11-2, and a slider 13. The moving screw 11-1 is fixedly connected to the slider 13 and moves along with the movement of the slider 13. The moving screw 11-1 and the fixed screw 11-2 are used to fix the fitting to be assembled 10 on the assembly tooling 2. The fitting to be assembled 10 is provided with threaded holes that cooperate with the moving screw 11-1 and the fixed screw 11-2. The threaded holes are either inherent to the fitting to be assembled 10 or machined on-site. The intelligent assembly and tightening workstation further includes a support tooling 7 installed on the AGV 9. The support tooling 7 is used to support the assembly workpiece 4 that cooperates with the fitting to be assembled 10. The support tooling 7 includes a bracket 20, a lifting lug 21, a first positioning device 22, and a second positioning device 23. The bracket 20 has an arc-shaped structure for stably supporting the assembly workpiece 4. The lifting lugs 21 are provided on both sides of the bracket 20 for hoisting the support tooling 7. The first positioning device 22 and a corresponding position on the AGV 9 form a pin-hole structure with each other, and the second positioning device 23 and a corresponding position on the positioning component 8 form a pin-hole structure with each other. The tightening robot 5 includes a robot body 16, a vision camera 17, a quick-change head 19, and an automatic tightening gun 18. The tightening robot 5 completes the positioning and automatic tightening operations between the fitting to be assembled 10 and the assembly workpiece 4 with the assistance of the vision camera 17. After completing the positioning and automatic tightening operations, the tightening robot 5 automatically loosens the moving screw 11-1 and the fixed screw 11-2 on the assembly tooling 2 with the assistance of the vision camera 17.

[0036] The present invention also provides an assembly process for realizing intelligent assembly and tightening operations by using the above-mentioned assembly tooling. The assembly process includes the following steps: Step 1, assembly preparation: According to the structural dimensions of the to-be-assembled part 10, adjust the distance between the movable screw 11-1 and the fixed screw 11-2 to complete the fixation between the to-be-assembled part 10 and the assembly tooling 2; Step 2, the AGV 9 transports the assembly workpiece 4 into the intelligent assembly and tightening workstation, and realizes the positioning of the assembly workpiece 4 through the pin-hole structure between the second positioning device 23 of the support tooling 7 and the corresponding position of the positioning assembly 8. After positioning, the AGV 9 places the assembly workpiece 4 on the support tooling 7; Step 3, according to the model of the assembly workpiece 4, the assembly robot 3 picks up the corresponding assembly tooling 2 and the to-be-assembled part 10 fixedly connected thereto from the workbench 1 through the quick-change device 14; Step 4, the vision assembly 6 measures the spatial position coordinates of the assembly workpiece 4 and the to-be-assembled part 10 through a camera, and the control system carried by the control station calculates the position deviation between the two, automatically measures and plans the movement path, and drives the assembly robot 3 to move according to the planned path to realize the precise assembly of the to-be-assembled part 10 and the assembly workpiece 4; Step 5, according to the model information of the assembly workpiece 4, the control system drives the tightening robot 5 to select a suitable automatic tightening gun 18 through the quick-change head 19, and the tightening robot 5 completes the positioning and automatic tightening operations between the to-be-assembled part 10 and the assembly workpiece 4 with the assistance of the vision camera 17; Step 6, the tightening robot 5 automatically loosens the movable screw 11-1 and the fixed screw 11-2 on the assembly tooling 2 with the assistance of the vision camera 17, so as to remove the assembly tooling 2 connected to the to-be-assembled part 10; Step 7, the assembly robot 3 places the removed assembly tooling 2 on the workbench 1; Step 8, the AGV 9 transports the workpiece after the assembly and tightening operations out of the intelligent assembly and tightening workstation. Further included in Step 5 is that after the tightening robot 5 completes the automatic tightening operation, it transmits the collected tightening torque value to the control system. Further included before the AGV 9 transports the assembly workpiece 4 in Step 2 is that the AGV 9 realizes the positioning of the assembly workpiece 4 before transportation through the pin-hole structure between it and the first positioning device 22 of the support tooling 7.

[0037] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments. The above-mentioned embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An assembly tooling for an intelligent assembly and tightening workstation, the intelligent assembly and tightening workstation including a work Table (1), assembly robot (3), tightening robot (5), vision component (6), support tooling (7), positioning component (8), AGV (9), control station, characterized in that: The assembly tooling (2) has a robot grasping part and a product installation part. The robot grasping part includes a quick-change device (14) and a support rod (15). The quick-change device (14) is used for the assembly robot (3) to achieve quick grasping. The support rod (15) is installed on the quick-change device (14) to facilitate placing the assembly tooling on the workbench (1). The product installation part includes a moving screw (11-1), a fixed screw (11-2), and a slider (13). The moving screw (11-1) is fixedly connected to the slider (13) and moves along with the movement of the slider (13). The moving screw (11-1) and the fixed screw (11-2) are used to fix the fitting to be assembled (10) on the assembly tooling (2); The support tooling (7) is installed on the AGV (9) and is used to support the assembly workpiece (4) that cooperates with the fitting to be assembled (10); The AGV (9) is used to transport the assembly workpiece into the intelligent assembly and tightening workstation, and after the assembly is completed, transport the assembly workpiece after the assembly and tightening operation out of the intelligent assembly and tightening workstation; The positioning component (8) is used to position the support tooling (7). After positioning, the AGV (9) places the assembly workpiece on the support tooling (7); The assembly robot is used to pick up the corresponding assembly tooling and the fitting to be assembled fixedly connected thereto from the workbench through the quick-change device according to the model of the assembly workpiece; The tightening robot is used to complete the automatic tightening operation of the assembly and loosen the moving screw (11-1) and the fixed screw (11-2) on the assembly tooling; The support tooling (7) includes a bracket (20), a lifting lug (21), a first positioning device (22), and a second positioning device (23). The bracket (20) has an arc-shaped structure and is used to stably support the assembly workpiece (4); The lifting lugs (21) are arranged on both sides of the bracket (20) and are used for hoisting the support tooling (7); The first positioning device (22) and the corresponding position of the AGV (9) are in a pin-hole structure with each other, and the second positioning device (23) and the corresponding position of the positioning component (8) are in a pin-hole structure with each other; The tightening robot (5) includes a robot body (16), a vision camera (17), a quick-change head (19), and an automatic tightening gun (18); The vision component (6) is arranged on one side far away from the tightening robot (5).

2. The assembly tooling according to claim 1, wherein: The fitting to be assembled (10) is provided with threaded holes that cooperate with the moving screw (11-1) and the fixed screw (11-2).

3. The assembly tooling according to claim 2, wherein: The threaded holes are for the fitting to be assembled (10) either self-provided or machined on-site.

4. The assembly tooling according to claim 1, characterized in that: The tightening robot (5) completes the positioning and automatic tightening operation between the fitting to be assembled (10) and the assembly workpiece (4) with the assistance of the vision camera (17).

5. The assembly tooling according to claim 4, characterized in that: Complete the positioning and automatic tightening operation After that, the tightening robot (5) automatically loosens the moving screw (11-1) and the fixed screw (11-2) on the assembly tooling (2) with the assistance of the vision camera (17).

6. An assembly process for realizing intelligent assembly and tightening operations by using the assembly tooling according to claim 4 or 5, It is characterized in that: The assembly process includes the following steps: Step 1, assembly preparation: According to the structural dimensions of the fitting to be assembled (10), adjust the distance between the moving screw (11-1) and the fixed screw (11-2) to complete the fixation between the fitting to be assembled (10) and the assembly tooling (2); Step 2, the AGV (9) transports the assembly workpiece (4) into the intelligent assembly and tightening workstation. Through the pin-hole structure between the second positioning device (23) of the support tooling (7) and the corresponding position of the positioning component (8), the positioning of the assembly workpiece (4) is realized. After positioning, the AGV (9) puts down the assembly workpiece (4) and the support tooling (7); Step 3, the assembly robot (3) picks up the corresponding assembly tooling (2) and the fitting to be assembled (10) fixedly connected thereto from the workbench (1) through the quick-change device (14) according to the model of the assembly workpiece (4); Step 4, the vision component (6) measures the spatial position coordinates of the assembly workpiece (4) and the fitting to be assembled (10) through the camera. The control system carried by the control station calculates the position deviation between the two, automatically measures and plans the movement path, and drives the assembly robot (3) to move according to the planned path to realize the precise assembly of the fitting to be assembled (10) and the assembly workpiece (4); Step 5, according to the model information of the assembly workpiece (4), the control system drives the tightening robot (5) to select a suitable automatic tightening gun (18) through the quick-change head (19). The tightening robot (5) completes the positioning and automatic tightening operations between the fitting to be assembled (10) and the assembly workpiece (4) with the assistance of the vision camera (17); Step 6, the tightening robot (5) automatically loosens the moving screw (11-1) and the fixed screw (11-2) on the assembly tooling (2) with the assistance of the vision camera (17), so as to remove the assembly tooling (2) connected to the fitting to be assembled (10); Step 7, the assembly robot (3) places the removed assembly tooling (2) on the workbench (1); Step 8, the AGV (9) transports the workpiece after the assembly and tightening operation out of the intelligent assembly and tightening workstation.

7. The assembly process according to claim 6, characterized in that: In step 5, it further includes that after the tightening robot (5) completes the automatic tightening operation, the collected tightening torque value is transmitted to the control system.

8. The assembly process according to claim 6, characterized in that: Before the AGV (9) transports the assembly workpiece (4) in step 2, it further includes that the AGV (9) realizes the positioning before transporting the assembly workpiece (4) through the pin-hole structure between its first positioning device (22) and the support tooling (7).

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