An automatic assembly system and method for a thrust device guided by a vision system

Abstract

The present invention relates to an automatic assembly system and method for a thrust device guided by a vision system, belonging to the field of assembly and manufacturing of aerospace liquid engines. Through a control system, a position detection device, a vision detection device, and a collaborative robot, sequential positioning and assembly of multiple mating assembly components are completed. The vision detection device is used to obtain feature information, calculate the coordinate deviation between the actual position and the theoretical position, and compensate it into the target movement coordinates of the collaborative robot, and drive the collaborative robot to reach the target installation position. A torque tightening system is set at the end of the collaborative robot, and after tightening, the actual tightening data is transmitted to the production data acquisition system. The present invention can overcome the angle limitation of visual inspection, ensure the assembly accuracy, solve the problems of difficult accuracy guarantee, low assembly efficiency, and manual recording of production data in the current manual assembly process of the thrust device, and improve the automation and digital level of the production and manufacturing of liquid rocket engines.

Description

Technical Field

[0001] The invention belongs to the technical field of liquid rocket engine assembly manufacturing, and relates to a thrust device automatic assembly system and method guided by a vision system. Background Technique

[0002] The thrust device is used for engine thrust providing and attitude control, and is the core assembly of a liquid rocket engine. Usually, the thrust device is fixed to the engine main body bottom plate or the cabin body by a threaded connection method. During the assembly process, it is required that the axis of the mounting hole of the thrust device itself is aligned with the axis of the mounting hole of the engine bottom plate or the cabin body to ensure uniform assembly clearance.

[0003] Currently, most automatic assemblies are based on pre-programmed assembly points, and a guiding mechanism is set for auxiliary positioning, which can achieve basic automatic docking and positioning. However, it is not suitable for the positioning and assembly of multiple components with high docking accuracy requirements. Its positioning accuracy is easily affected by the production consistency of the components. When the consistency is poor, considering the deviation after automatic clamping of the components will introduce the final positioning deviation, and it is difficult to achieve accurate docking between the components, and even automatic assembly cannot be achieved. Summary of the Invention

[0004] The technical problem solved by the invention is: overcoming the deficiencies of the prior art, and proposing a thrust device automatic assembly system and method guided by a vision system, which can detect the actual clamping and installation positions of each component and fastener in real time, compensate and adjust the assembly position according to the actual state of the object, which helps to ensure the assembly accuracy and improve the assembly efficiency.

[0005] The technical solution adopted by the invention is: a thrust device automatic assembly system guided by a vision system. There is a mounting flange on the outer periphery of the middle part of the thrust device. There are M mounting holes at the corresponding positions of the mounting flange and the bottom plate. The bottom plate is provided with a bottom plate penetration hole. The automatic assembly system is used to penetrate the thrust device through the bottom plate penetration hole and bolt-connect the mounting flange with the bottom plate, where M>1; the system includes a control system, a bottom plate positioning mechanism, a thrust device locking mechanism, a position detection device, a vision detection system, a first collaborative robot, a second collaborative robot, and a third collaborative robot;

[0006] The position detection device identifies whether the bottom plate rotates to a set angle and feeds back to the control system in real time;

[0007] The vision detection system obtains the coordinate of the feature point of the thrust device, the coordinate of the feature point of the bottom plate, the coordinate of the feature point of the bolt, and the coordinate of the feature point after the bolt is assembled, and feeds them back to the control system;

[0008] The control system drives the bottom plate positioning mechanism to lock the bottom plate that has rotated into place; calculates the coordinate compensation value of the characteristic points of the thrust device and the correction angle Δθ based on the coordinate of the characteristic points of the thrust device and the coordinate of the characteristic points of the bottom plate, drives the first collaborative robot to clamp the thrust device to the compensated target position and then rotate axially by Δθ, so that the thrust device penetrates into the penetration hole of the bottom plate, and the thrust device reaches the target assembly position, and then drives the thrust device locking mechanism to lock the thrust device; calculates the coordinate compensation value of the bolt based on the coordinate of the characteristic points of the bolt and the coordinate of the characteristic points of the bottom plate, drives the first collaborative robot to clamp the bolt to the compensated target position, and then translates the bolt until it penetrates into the installation hole and then keeps the state of clamping the bolt unchanged; calculates the coordinate compensation value of the gasket based on the coordinate of the characteristic points of the bottom plate, drives the second collaborative robot to horizontally pick up the gasket to the compensated target position and sleave it over the bolt from above the bottom plate; obtains the coordinate of the characteristic points after the bolt is assembled, calculates the coordinate compensation value of the nut, drives the third collaborative robot to horizontally pick up the nut to the compensated target position and tighten the nut.

[0009] Further, the position detection device is an infrared photoelectric induction device.

[0010] Further, the method for identifying whether the bottom plate rotates to the set angle is: install an infrared emission device above the set bottom plate assembly position. When the light-transmitting hole position of the bottom plate rotates above the infrared emission device, the infrared receiving device detects that the bottom plate has rotated into place.

[0011] Further, the coordinate of the characteristic points of the thrust device includes: the circumferential center coordinate of the top of the thrust device in the clamping state, the center coordinates of each mounting hole of the mounting flange of the thrust device, and each mounting hole of the mounting flange of the thrust device includes the 1# mounting hole of the thrust device;

[0012] The coordinate of the characteristic points of the bottom plate includes: the center coordinate of the penetration hole of the bottom plate, the center coordinates of each mounting hole of the bottom plate, and the center coordinates of each mounting hole of the bottom plate includes the 1# mounting hole of the bottom plate.

[0013] Further, calculating the coordinate compensation value of the characteristic points of the thrust device includes: calculating the deviation {ΔX1, ΔY1} of the center coordinate of the penetration hole of the bottom plate and the first program preset center coordinate in the X and Y directions of the earth coordinate system, and at the same time calculating the deviation {ΔX2, ΔY2} of the circumferential center coordinate of the top of the thrust device in the clamping state and the second program preset center coordinate in the X and Y directions of the earth coordinate system, and obtaining the coordinate compensation value {ΔX 推力装置 , ΔY 推力装置} = {ΔX1 + ΔX2, ΔY1 + ΔY2};

[0014] Calculating the correction angle Δθ includes:

[0015] Define the angle between the straight line formed by the center point of the top circumference of the thrust device in the clamped state and the center point of the No. 1 mounting hole of the thrust device and the X-axis as λ1, and record the deviation between λ1 and the preset angle λ0 of the first program as Δλ. Define the angle between the straight line formed by the center point of the bottom plate penetration hole and the center point of the No. 1 mounting hole of the bottom plate and the X-axis as δ1, and record the deviation between δ1 and the preset angle δ0 of the second program as Δδ. Then the correction angle Δθ = Δδ + Δλ.

[0016] Furthermore, the coordinate of the bolt feature point is: the end face center coordinate of the bolt in the clamped state. The coordinate compensation value of the bolt is calculated jointly according to the bolt feature point coordinate and the bottom plate feature point coordinate, including:

[0017] Calculate the deviation {ΔX3, ΔY3} of the end face center coordinate of the bolt in the clamped state from the theoretical center of the bolt in the X and Y directions of the geodetic coordinate system. At the same time, calculate the deviation {ΔX4, ΔY4} of the center coordinate of the No. 1 mounting hole of the bottom plate from its theoretical center in the X and Y directions of the geodetic coordinate system, and obtain the coordinate compensation value {ΔX 螺栓 , ΔY 螺栓 = ΔX3 + ΔX4, ΔY3 + ΔY4}.

[0018] Furthermore, the calculation of the coordinate compensation value of the gasket according to the bottom plate feature point coordinate includes: the coordinate compensation value of the gasket {ΔX 垫片 , ΔY 垫片 = ΔX4, ΔY4}.

[0019] Furthermore, the coordinate of the feature point after the bolt is assembled is: the end face center coordinate after the bolt is assembled;

[0020] The calculation of the coordinate compensation value of the nut includes: the coordinate compensation value of the nut {ΔX 螺母 , ΔY 螺母} is the deviation {ΔX5, ΔY5} of the end face center coordinate after the bolt is assembled from the preset target center of the bolt in the X and Y directions of the geodetic coordinate system.

[0021] Furthermore, a torque tightening system is provided at the end of the third collaborative robot. The torque tightening system is equipped with a torque sensor for obtaining the tightening torque;

[0022] The system further includes a production data acquisition system. The production data acquisition system is connected to the torque tightening system for receiving and recording the tightening torque in real time.

[0023] Furthermore, a method for automatically assembling a thrust device based on a vision system guidance is provided, including the following steps:

[0024] S1. Detect in real time whether the bottom plate rotates in place, and lock the bottom plate after it rotates in place;

[0025] S2. Obtain the circumferential center coordinates of the top of the thrust device and the center coordinates of the 1# mounting hole of the thrust device in the clamped state. At the same time, obtain the center coordinates of the through-hole of the base plate and the center coordinates of the 1# mounting hole of the base plate; calculate the coordinate compensation value {ΔX 推力装置 , ΔY 推力装置} of the thrust device and the correction angle Δθ; control the thrust device to rotate axially by Δθ after reaching the compensated target position and penetrate into the through-hole of the base plate to reach the target assembly position;

[0026] S3. After the thrust device is assembled in place, lock it, horizontally grasp the bolt, take a photo of the clamped state of the bolt, calculate the coordinate compensation value {ΔX 螺栓 , ΔY 螺栓}, compensate it into the target movement coordinates of the bolt, and move the bolt (5) into the target mounting hole of the mounting flange of the thrust device;

[0027] S4. Horizontally grasp the gasket, calculate the coordinate compensation value {ΔX 垫片 , ΔY 垫片}, compensate it into the target movement coordinates of the gasket, and move the gasket to the target assembly position and put it on the bolt;

[0028] S5. Horizontally grasp the nut, obtain the center coordinates of the end face after the bolt is assembled, and get {ΔX 螺母 , ΔY 螺母}, compensate it into the target movement coordinates of the nut, move the nut to the target mounting position, and pre-tighten the nut at the 1# mounting hole of the base plate;

[0029] S6. Replace the center coordinates of other mounting holes of the thrust device with the corresponding center coordinates of the mounting holes of the base plate, and repeat steps S3 to S6 to complete the assembly of bolts, gaskets, and nuts at each mounting hole.

[0030] The beneficial effects of the present invention compared with the prior art are:

[0031] (1) Since the present invention uses a vision detection device to obtain the characteristic information of the components after actual clamping and installation, it eliminates the influence of the component's own consistency and the clamping deviation during the assembly process on the final positioning accuracy. The PLC control system calculates the coordinate deviation between the actual position and the theoretical position in sequence and compensates it into the target movement coordinates of the collaborative robot, driving the collaborative robot to reach the target installation position, ensuring the assembly accuracy when multiple mating assembly components are sequentially positioned and assembled.

[0032] (2) A torque tightening system is provided at the end of the collaborative robot in the present invention, and the actual tightening data is transmitted to the production data acquisition system after tightening. It realizes the automatic assembly and tightening of the thrust device and data recording, solves the problems of high personnel cost, low assembly efficiency, and manual recording of production data in the current manual assembly process of the thrust device, and can be popularized and applied in the assembly links with high precision requirements, improving the automation and digital level of liquid rocket engine production and manufacturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Structural diagram of the automatic assembly system of the thrust device according to an embodiment of the present invention;

[0034] Figure 2 Front structural schematic diagram of the engine bottom plate according to an embodiment of the present invention;

[0035] Figure 3 Structural schematic diagram of the engine thrust device according to an embodiment of the present invention;

[0036] Figure 4 Structural schematic diagram of the assembly of the thrust device according to an embodiment of the present invention;

[0037] Figure 5 Schematic diagram of the bottom plate features obtained by the vision detection device according to an embodiment of the present invention;

[0038] Figure 6 Schematic diagram of the thrust device features obtained by the vision detection device according to an embodiment of the present invention;

[0039] Description of the drawing reference numerals:

[0040] 1 - bottom plate 2 - thrust device 3 - nut 4 - gasket 5 - bolt

[0041] 11 - bottom plate 1# mounting hole 12 - bottom plate 2# mounting hole

[0042] 13 - bottom plate 3# mounting hole 14 - bottom plate initial position recognition feature hole

[0043] 15 - thrust device insertion hole 16 - thrust device bottom plate mounting hole marking

[0044] 21 - thrust device 1# mounting hole 22 - thrust device 2# mounting hole

[0045] 23 - thrust device 3# mounting hole 24 - circumferential feature at the top of the thrust device after clamping

[0046] 25 - self-mounting hole marking of the thrust device DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] The present invention will be further described below with reference to the accompanying drawings.

[0048] AsFigure 1 As shown in the figure, it is the structural composition of the automatic assembly system of the thrust device according to the embodiment of the present invention, including a PLC control system, a production data acquisition system, a position detection device A, three sets of collaborative robots, three sets of vision detection devices, a set of bottom plate positioning mechanism, a set of thrust device locking mechanism, and a set of torque tightening system, which is applicable to the installation of a certain type of engine thrust device. The collaborative robots execute actions such as horizontally clamping and placing the thrust device 2, horizontally clamping and placing bolts, horizontally clamping and placing gaskets 4, and horizontally clamping and placing nuts 3 in sequence according to the preset commands of the PLC control system; the vision detection devices perform vision detection before each workpiece is placed at the target position, calculate the theoretical and actual position deviations, and then feedback the coordinate compensation values to the PLC control system. The PLC converts the coordinate compensation into the coordinate compensation actions of the collaborative robots; the torque tightening system executes the torque tightening of the nut 3, and transmits the actual tightening data to the production data acquisition system after tightening.

[0049] In this embodiment, the three sets of collaborative robots include a first collaborative robot, a second collaborative robot, and a third collaborative robot, which respectively complete the clamping and assembly of the thrust device 2, bolts, gaskets 4, and nuts 3. The position detection device A is an infrared photoelectric induction device, which is used to identify whether the bottom plate 1 rotates to the set angle and feedback to the PLC control system in real time. The three sets of vision detection devices include a vision detection device B, a vision detection device C, and a vision detection device D. The vision detection device B is used to obtain the center coordinates of the top circumference of the thrust device after clamping, the center coordinates of each mounting hole of the thrust device, and the center point coordinates of the bolt end face in the horizontal clamping state. The vision detection device C is used to obtain the center coordinates of the bottom plate penetration hole 15 and the center coordinates of each mounting hole of the bottom plate after the bottom plate 1 is fixed. The vision detection device D is used to obtain the center coordinates of the top circumference of the bolt after assembly.

[0050] Figure 2 It is a schematic diagram of the front structure of the engine bottom plate. Among them, 11, 12, and 13 are respectively the three mounting holes of the thrust device on the bottom plate 1 (11 is the bottom plate 1# mounting hole, 12 is the bottom plate 2# mounting hole, 13 is the bottom plate 3# mounting hole), 15 is the bottom plate penetration hole on the bottom plate for the thrust device to penetrate, and 16 is the engraved line of the thrust device bottom plate mounting hole. Figure 3 It is a schematic diagram of the structure of the engine thrust device 2. Among them, 21, 22, and 23 are respectively the three mounting holes on the intermediate mounting flange of the thrust device (21 is the thrust device 1# mounting hole, 22 is the thrust device 2# mounting hole, 23 is the thrust device 3# mounting hole), and 25 is the engraved line of the thrust device's own mounting hole. As Figure 4 (a)~ Figure 4 (c) shown, the thrust device 2 and the bottom plate 1 are fixedly assembled through bolts, gaskets 4, and nuts 3.

[0051] In the process of traditional manual assembly of the thrust device, first, manually align the scribed line 25 of the mounting hole of the thrust device itself with the scribed line 16 of the mounting hole of the thrust device bottom plate. Hold the thrust device 2 with one hand, insert a bolt from below with the other hand, and another person put on a gasket 4 and a nut 3 from above and manually screw the nut 3 onto the threaded part of the bolt. Repeat the above actions to complete the pre-assembly of the other two bolts, gaskets, and nuts. Then, one assembler uses a wrench to tighten the head of the bolt, and another assembler uses a torque wrench to tighten the nut end to the required torque value. After tightening the three hole positions in sequence, evenly, and in segments, fill in the actual tightening torque in a paper record form. The traditional method has a high personnel cost and cannot effectively guarantee the assembly accuracy.

[0052] The present invention provides an automatic assembly method for a thrust device guided by a vision system. Based on the embodiments of the present invention, its application methods and steps include:

[0053] (a) Place the front side of the engine bottom plate 1 facing upward and transfer it on the engine bottom plate conveyor line. When the bottom plate 1 reaches the assembly position is detected by a detection switch, the bottom plate positioning mechanism clamps the bottom plate and rotates it.

[0054] (b) Install the installation position detection device A. Install an infrared emission device at a radial position close to the inner ring of the bottom plate 1 below the engine bottom plate transmission line, and set an infrared signal receiving device above the front side of the bottom plate 1. The initial position recognition feature hole 14 of the bottom plate is a light-transmitting hole of the bottom plate. When the light-transmitting hole of the bottom plate rotates above the infrared emission device, the infrared signal receiving device detects that the bottom plate 1 has rotated in place and sends a signal to the PLC control system to control the bottom plate positioning mechanism to stop rotating and lock.

[0055] (c) The PLC control system drives the first collaborative robot to grab the thrust device 2 from the thrust device rack and reach within the shooting range of the vision detection device B according to a predetermined program trajectory; in this embodiment, the vision detection device B is fixed on the system truss and its position remains unchanged.

[0056] (d) Take a photo from the top of the thrust device 2 through the vision detection device B to obtain the position information of the circumferential feature 24 at the top of the thrust device after clamping, the thrust device 1# mounting hole 21, the thrust device 2# mounting hole 22, and the thrust device 3# mounting hole 23, and feed the feature coordinates back to the PLC control system. As Figure 6 shown, the solid line represents the actual thrust device feature at the shooting position, and the dashed line represents the theoretically preset feature in the program at the shooting position.

[0057] (e) The visual inspection device C can be fixed at the end of the second collaborative robot. The PLC control system drives the second collaborative robot to reach above the bottom plate 1 according to a predetermined program trajectory, takes pictures of the installation area of the thrust device 2 after positioning the bottom plate 1, obtains the position information of the bottom plate penetration hole 15, the bottom plate 1# mounting hole 11, the bottom plate 2# mounting hole 12, and the bottom plate 3# mounting hole 13, and feeds back the characteristic coordinates to the PLC control system. As Figure 5 shown, the solid line represents the actual bottom plate mounting hole feature, and the dashed line represents the theoretical feature preset in the program. In this embodiment, the XYZ coordinate system is the earth coordinate system.

[0058] (f) The PLC control system calculates the features obtained by the visual inspection device B and the visual inspection device C, obtains the center point coordinates of the top circumferential feature 24 after the thrust device is clamped, the thrust device 1# mounting hole thrust device 1# mounting hole 21, the thrust device bottom plate penetration hole 15, and the bottom plate 1# mounting hole 11, calculates the deviations {ΔX1, ΔY1} in the X and Y directions between the actual center coordinate of the thrust device bottom plate penetration hole 15 and the corresponding program-preset center coordinate, and at the same time calculates the deviations {ΔX2, ΔY2} in the X and Y directions between the actual center coordinate of the top circumferential feature 24 after the thrust device is clamped and the corresponding program-preset center coordinate at the shooting position, and obtains the cumulative deviation {ΔX 推力装置 , ΔY 推力装置} = {ΔX1 + ΔX2, ΔY1 + ΔY2}, and compensates {ΔX 推力装置 , ΔY 推力装置} into the target movement coordinates of the thrust device.

[0059] (g) The angle between the straight line formed by the center point of the top circumferential feature 24 after the thrust device is clamped and the center point of the thrust device 1# mounting hole thrust device 1# mounting hole 21 and the X direction is denoted as λ1, and the deviation between λ1 and the program-preset angle λ0 is denoted as Δλ; the angle between the straight line formed by the center point of the thrust device bottom plate penetration hole 15 and the center point of the bottom plate 1# mounting hole 11 and the X direction is denoted as δ1, and the deviation between δ1 and the program-preset δ0 is denoted as Δδ. The cumulative deviation of the two groups of angles is obtained as the program correction angle Δθ = Δδ + Δλ. The PLC control system drives the first collaborative robot to clamp the thrust device 2 to the compensated target position and then rotate axially by Δθ.

[0060] (h) Through the calculations in steps (f) and (g), the center alignment of the top circumferential feature 24 after the thrust device is clamped and the center of the thrust device bottom plate penetration hole 15, and the center alignment of the thrust device 1# mounting hole and the bottom plate 1# mounting hole 11 are achieved. The PLC control system drives the first collaborative robot to insert the thrust device 2 through the bottom plate penetration hole 15 from directly below the bottom plate 1.

[0061] (i) After the thrust device 2 is assembled in place, the thrust device locking mechanism locks the thrust device 2. The first collaborative robot releases the thrust device 2, horizontally grabs a bolt from the mounting bolt rack by the program to reach within the shooting range of the vision inspection device B, takes a photo of the clamping state of the bolt through the vision inspection device B, calculates the deviation {ΔX3, ΔY3} of the actual center coordinate and the theoretical center coordinate of the bolt end face at the shooting position in the X and Y directions. At the same time, combining the deviation {ΔX4, ΔY4} of the actual center and the theoretical center of the bottom plate 1# mounting hole 11 calculated in step (e), and calculating the combined result as {ΔX 螺栓 , ΔY 螺栓 = ΔX3 + ΔX4, ΔY3 + ΔY4}, compensating it into the target movement coordinates of the bolt. After compensation, the bolt is moved to the target mounting hole position and inserted into the bottom plate 1# mounting hole 11 from below;

[0062] (j) The first collaborative robot maintains the state of clamping the bolt for back-tightening when the nut 3 is tightened. After the bolt is installed in place, the PLC control system drives the second collaborative robot to horizontally clamp the gasket 4 from the gasket rack. Combining the deviation {ΔX4, ΔY4} of the actual center and the theoretical center of the bottom plate 1# mounting hole 11 calculated in step (e) as {ΔX 垫片 , ΔY 垫片}, compensating it into the target movement coordinates of the gasket 4. After compensation, the gasket 4 is moved to above the target bolt and automatically sleeved;

[0063] (k) The vision inspection device D is fixed at the end of the third collaborative robot. The PLC control system drives the third collaborative robot to reach above the bottom plate 1 according to the predetermined program trajectory, takes a photo of the position after the bolt penetrates, obtains the circumferential center coordinates of the top end of the bolt after assembly, and feeds the center coordinates back to the PLC control system.

[0064] (l) The torque tightening system is also fixed at the end of the third collaborative robot, with the functions of horizontally sleeving the nut 3 and tightening. Calculating the coordinate deviation {ΔX5, ΔY5} of the actual circumferential center of the top end of the bolt after assembly obtained by the vision inspection device D and the theoretical center of the bolt as {ΔX 螺母 , ΔY 螺母}, compensating it into the target movement coordinates of the nut 3. After compensation, the nut 3 is moved to the target installation position by the third collaborative robot, and the tightening shaft of the torque tightening system rotates to pre-tighten the nut 3. When pre-tightening, the first collaborative robot back-tightens the mounting bolt.

[0065] (m) Replace the central coordinates of other mounting holes of the thrust device itself with the central coordinates of the corresponding through holes on the base plate, and repeat steps (h) to (l) to sequentially complete the pre-assembly of bolts, washers, and nuts for the mounting hole 12 of base plate 2# and the mounting hole 13 of base plate 3#. Then, the torque tightening system at the end of the third collaborative robot sequentially tightens the nuts of the mounting hole 11 of base plate 1#, the mounting hole 12 of base plate 2#, and the mounting hole 13 of base plate 3#.

[0066] (n) After tightening at each point, the torque tightening system sends a signal to the PLC control system, and the tightening data is automatically transmitted back to the production data acquisition system to complete the automatic recording of the actual tightening torque, thus completing the assembly of one thrust device.

[0067] The automatic assembly system of the thrust device guided by the vision system according to the present invention replaces the traditional manual assembly and data recording processes. Through the cooperation of the vision detection system, the PLC control system, and the collaborative robot control, it liberates human labor and realizes the precise positioning of components. At the same time, through the combination of the torque tightening system and the production data acquisition system, it realizes the real-time automatic recording of production data. By adjusting the vision system to identify the target and the calculation algorithm, the invention can be flexibly applied to the positioning and assembly processes of components in other assembly forms and can be extended for application to the assembly of other components within the same system.

[0068] Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention all fall within the protection scope of the technical solution of the present invention.

Claims

1. An automatic assembly system for a thrust device guided by a vision system. An installation flange is provided on the outer periphery of the middle part of the thrust device (2). M installation holes are provided at corresponding positions between the installation flange and the bottom plate. The bottom plate is provided with a bottom plate penetration hole (15). The automatic assembly system is used to penetrate the thrust device (2) through the bottom plate penetration hole (15) and bolt-connect it to the bottom plate through the installation flange, where M > 1; it is characterized in that It includes a control system, a bottom plate positioning mechanism, a thrust device locking mechanism, a position detection device, a vision detection system, a first collaborative robot, a second collaborative robot, and a third collaborative robot; The position detection device identifies whether the bottom plate (1) has rotated to a set angle and feeds back to the control system in real time; The vision detection system obtains the characteristic point coordinates of the thrust device (2), the characteristic point coordinates of the bottom plate (1), the characteristic point coordinates of the bolt (5), and the characteristic point coordinates after the assembly of the bolt (5), and feeds them back to the control system; The control system drives the bottom plate positioning mechanism to lock the rotated bottom plate (1); according to the characteristic point coordinates of the thrust device (2) and the characteristic point coordinates of the bottom plate (1), it calculates the compensation value of the characteristic point coordinates of the thrust device (2) and the correction angle Δθ, drives the first collaborative robot to clamp the thrust device (2) to reach the compensated target position and then rotate axially by Δθ, so that the thrust device (2) penetrates into the bottom plate penetration hole (15), makes the thrust device (2) reach the target assembly position, and then drives the thrust device locking mechanism to lock the thrust device (2); according to the characteristic point coordinates of the bolt (5) and the characteristic point coordinates of the bottom plate (1), it calculates the coordinate compensation value of the bolt (5), drives the first collaborative robot to clamp the bolt (5) to reach the compensated target position, and then translates the bolt (5) until it penetrates into the installation hole and then keeps the state of clamping the bolt (5) unchanged; according to the characteristic point coordinates of the bottom plate (1), it calculates the coordinate compensation value of the gasket (4), drives the second collaborative robot to horizontally clamp the gasket (4) to reach the compensated target position and sleeve it onto the bolt (5) from above the bottom plate; it obtains the characteristic point coordinates after the assembly of the bolt (5), calculates the coordinate compensation value of the nut (3), and drives the third collaborative robot to horizontally clamp the nut (3) to the compensated target position and tighten the nut (3).

2. The automatic assembly system for a thrust device guided by a vision system according to claim 1, characterized in that The position detection device is an infrared photoelectric induction device.

3. The automatic assembly system for a thrust device guided by a vision system according to claim 2, characterized in that The method for identifying whether the bottom plate (1) has rotated to a set angle is: install an infrared emission device above the set bottom plate assembly position. When the light-transmitting hole position of the bottom plate (1) rotates above the infrared emission device, the infrared receiving device detects that the bottom plate (1) has rotated in place.

4. The automatic assembly system for a thrust device guided by a vision system according to claim 1, characterized in that The characteristic point coordinates of the thrust device (2) include: the center coordinates of the top circumference (24) of the thrust device in the clamped state, and the center coordinates of each mounting hole of the thrust device mounting flange. Each mounting hole of the thrust device mounting flange includes the thrust device 1# mounting hole (21); The characteristic point coordinates of the bottom plate (1) include: the center coordinates of the bottom plate penetration hole (15) and the center coordinates of each mounting hole of the bottom plate. The center coordinates of each mounting hole of the bottom plate include the bottom plate 1# mounting hole (11).

5. The automatic assembly system for a thrust device guided by a vision system according to claim 4, characterized in that The calculation of the coordinate compensation value of the characteristic points of the thrust device (2) includes: calculating the deviations {ΔX1, ΔY1} of the center coordinates of the bottom plate penetration hole (15) and the first program preset center coordinates in the X and Y directions of the geodetic coordinate system, and at the same time calculating the deviations {ΔX2, ΔY2} of the center coordinates of the top circumference (24) of the thrust device in the clamped state and the second program preset center coordinates in the X and Y directions of the geodetic coordinate system, so as to obtain the coordinate compensation value {ΔX 推力装置 , ΔY 推力装置} = {ΔX1 + ΔX2, ΔY1 + ΔY2}; Calculating the correction angle Δθ includes: Define the angle between the straight line formed by the center point of the top circumference (24) of the thrust device in the clamped state and the center point of the thrust device 1# mounting hole (21) and the X-axis as λ1, and record the deviation between λ1 and the first program preset angle λ0 as Δλ. Define the angle between the straight line formed by the center point of the bottom plate penetration hole (15) and the center point of the bottom plate 1# mounting hole (11) and the X-axis as δ1, and record the deviation between δ1 and the second program preset angle δ0 as Δδ. Then the correction angle Δθ = Δδ + Δλ.

6. The automatic assembly system for a thrust device guided by a vision system according to claim 5, characterized in that The coordinate of the feature point of the bolt (5) is: the center coordinate of the end face of the bolt (5) in the clamped state. The coordinate compensation value of the bolt (5) is calculated jointly according to the coordinate of the feature point of the bolt (5) and the coordinate of the feature point of the bottom plate (1), including: Calculate the deviations {ΔX3, ΔY3} of the end face center coordinates of the bolt (5) in the clamped state from the theoretical center of the bolt (5) in the X and Y directions of the geodetic coordinate system. At the same time, calculate the deviations {ΔX4, ΔY4} of the center coordinates of the 1# mounting hole (11) of the base plate from its theoretical center in the X and Y directions of the geodetic coordinate system, and obtain the coordinate compensation value {ΔX 螺栓 , ΔY 螺栓 = ΔX3 + ΔX4, ΔY3 + ΔY4}.

7. The automatic assembly system for a thrust device guided by a vision system according to claim 6, characterized in that Calculating the coordinate compensation value of the gasket (4) according to the coordinate of the feature points of the bottom plate (1) includes: the coordinate compensation value {ΔX 垫片 , ΔY 垫片 = ΔX4, ΔY4} of the gasket (4).

8. The automatic assembly system for a thrust device guided by a vision system according to claim 7, characterized in that The coordinate of the feature point of the bolt (5) after assembly is: the center coordinate of the end face of the bolt (5) after assembly; Calculating the coordinate compensation value of the nut (3) includes: the coordinate compensation value {ΔX 螺母 , ΔY 螺母} of the nut (3) is the deviation {ΔX5, ΔY5} in the X and Y directions of the earth coordinate system between the end face center coordinate of the bolt (5) after assembly and the preset target center of the bolt (5).

9. The automatic assembly system for a thrust device guided by a vision system according to claim 1, characterized in that A torque tightening system is provided at the end of the third collaborative robot. The torque tightening system is equipped with a torque sensor for obtaining the tightening torque; The system further includes a production data acquisition system, which is connected to the torque tightening system for receiving and recording the tightening torque in real time.

10. An automatic assembly method for a thrust device guided by a vision system based on the system according to claim 8, characterized in that It includes the following steps: S1. Detect in real time whether the bottom plate (1) rotates in place. After rotating in place, lock the bottom plate (1); S2. Obtain the central coordinates of the top circumference (24) of the thrust device in the clamped state and the central coordinates of the 1# mounting hole (21) of the thrust device. At the same time, obtain the central coordinates of the bottom plate penetration hole (15) and the central coordinates of the 1# mounting hole (11) of the bottom plate; calculate the coordinate compensation value {ΔX 推力装置 , ΔY 推力装置} of the thrust device (2) and the correction angle Δθ; control the thrust device (2) to rotate axially by Δθ after reaching the compensated target position and penetrate into the bottom plate penetration hole (15) to reach the target assembly position; S3. After the thrust device (2) is assembled in place and locked, horizontally grasp the bolt (5), take a photo of the clamping state of the bolt (5), calculate the coordinate compensation value {ΔX 螺栓 , ΔY 螺栓}, compensate it into the target movement coordinates of the bolt (5), and move the bolt (5) to insert it into the target installation hole position of the mounting flange of the thrust device; S4. Horizontally clamp the gasket (4), calculate the coordinate compensation values {ΔX 垫片 , ΔY 垫片} of the gasket (4), compensate them into the target moving coordinates of the gasket (4), and move the gasket (4) to the target assembly position and sleeve it on the bolt (5); S5. Horizontally clamp the nut (3), obtain the end face center coordinates after the bolt (5) is assembled, and get {ΔX 螺母 , ΔY 螺母}, compensate them into the target movement coordinates of the nut (3), move the nut (3) to the target installation position, and pre-tighten the nut at the mounting hole (11) of the bottom plate 1#; S6. Replace the center coordinates of other mounting holes of the thrust device with the corresponding center coordinates of the bottom plate mounting holes, and repeat steps S3 to S6 to complete the assembly of bolts, gaskets, and nuts at each mounting hole.

Images