Assembly system and assembly method

Abstract

The present invention relates to the assembly of engineering machinery, and discloses an assembly system and an assembly method. The assembly system is used for plug-in installation between an insert-type workpiece and a slot-type workpiece, and comprises a control module, an assembly vision module, a gripping module and at least one insert-type workpiece placement table, wherein the insert-type workpiece placement table is provided with an identification unit; the assembly vision module is adapted to obtain image information and position of the slot-type workpiece and transmit the information to the control module to determine the P 槽安装 , adapted to scan the identification unit and obtain the position of the inserted workpiece and transmit it to the control module so that the gripping module grips the inserted workpiece, and also adapted to obtain the image information and position of the inserted workpiece on the gripping module and transmit it to the control module to determine P 插入 ; The control module is based on P 槽安装 , P 插入 The assembly system can realize precise positioning and installation of workpieces with a high degree of automation.

Description

Technical Field

[0001] The present invention relates to the assembly of engineering machinery, in particular to an assembly system and an assembly method using the assembly system. Background Art

[0002] During the walking process of construction machinery, such as excavators and loaders, the front end of the crawler is forced to retract due to the influence of complex ground conditions. In order to ensure that the crawler walking device of construction machinery such as excavators and loaders can work normally, maintain appropriate tension, reduce the impact load and additional power consumption during walking, and ensure that the crawler will not break or derail due to impact during the walking process of the vehicle, the crawler of construction machinery such as excavators and loaders needs to be equipped with a tensioning device. The tensioning device assembly of construction machinery such as excavators and loaders is generally composed of a guide wheel assembly and a tensioning mechanism. There are two installation forms: split type (the guide wheel assembly and the tensioning mechanism are completely separated and installed on the crawler twice) and integrated type (the guide wheel assembly and the tensioning mechanism are connected as one by bolts and installed on the crawler at one time).

[0003] At present, the distribution of tensioners is generally in the form of direct delivery to the line side, that is, the tensioners delivered by suppliers to the factory are not sorted or assembled, and the original tooling or pallets are directly delivered to the assembly line side by forklift. The production line workers use the sling to tie the tensioner and hang the sling on the crane or KBK hook. After adjusting the sling tying position to keep the tensioner in a horizontal state, adjust the crane and KBK to make the tensioning mechanism concentric with the track beam installation groove, and slowly install the tensioner into the track beam.

[0004] After the tensioner is installed, it is necessary to add oil to the oil filling port of the tensioner mechanism to maintain the tension of the tensioner. In order to facilitate oil filling and subsequent maintenance, the oil filling ports designed on the guide wheel assembly and the tensioner mechanism should face the guide wheel inspection port and the tensioner mechanism inspection port on the crawler beam. During manual assembly, it is necessary to manually confirm the direction of the oil filling port of the guide wheel assembly and adjust the direction of the oil filling port of the tensioner mechanism. This process is affected by the mental state and proficiency of the workers, and the production efficiency and assembly quality are unstable, which is not conducive to assembly line operation. In addition, during the installation of the tensioner, the tensioner mechanism of the split tensioner or the integrated tensioner is installed into the crawler beam. When the track beam is installed, the worker needs to adjust the position of the assembly cylinder at the front end of the tensioning mechanism by moving the tail of the tensioning mechanism, and at the same time operate the crane or KBK to install the assembly cylinder of the tensioning mechanism on the tensioning mechanism mounting hole of the track beam; due to the long length of the tensioning mechanism, the worker's slight adjustment of the tail of the tensioning mechanism will cause a large change in the position of the front end assembly cylinder, which cannot be accurately adjusted; and the guide wheel mounting groove and the tensioning mechanism mounting hole are welded on the track beam, and their accuracy is also difficult to guarantee. During installation, there is a risk of collision between the tensioning device and the frame track beam, which affects the assembly quality. The worker needs to adjust the posture of the tensioning device in real time to avoid collision with the track beam. Summary of the invention

[0005] The first technical problem to be solved by the present invention is to provide an assembly system, which can realize accurate positioning and installation of inserted workpieces and slotted workpieces, and has a high degree of informatization and automation in the entire process.

[0006] The second technical problem to be solved by the present invention is to provide an assembly method, which can achieve accurate positioning and installation of inserted workpieces and slotted workpieces, and the whole process has a high degree of informatization and automation.

[0007] In order to achieve the above-mentioned object, the first aspect of the present invention provides an assembly system for plug-in installation between an insert-type workpiece and a slot-type workpiece, comprising a control module, an assembly vision module, a gripping module and at least one insert-type workpiece placement table, wherein the insert-type workpiece placement table is provided with an identification unit for identifying the model information of the insert-type workpiece placed on the insert-type workpiece placement table;

[0008] The assembly vision module is adapted to obtain the image information and position of the slot workpiece and transmit it to the control module, so that the control module can determine the reference coordinate direction, and determine the installation position information P of the inserted workpiece on the slot workpiece in combination with the digital model information of the slot workpiece. 槽安装 ;

[0009] The assembly vision module is adapted to scan the identification unit on the insertable workpiece placement table, and obtain the position of the insertable workpiece on the insertable workpiece placement table and transmit it to the control module, so that the control module can identify the insertable workpiece of the required model and control the gripping module to grip the insertable workpiece;

[0010] The assembly vision module is also adapted to obtain image information and position of the inserted workpiece on the gripping module and transmit the image information and position to the control module, so that the control module can determine the position information P of the inserted workpiece on the gripping module in combination with the digital model information of the inserted workpiece. 插入 ;

[0011] The control module is adapted to 槽安装 , the P 插入 and the digital model information of the slot-type workpiece, determine the initial installation position of the insert-type workpiece, and control the gripping module to install the clamped insert-type workpiece from the initial installation position to the slot-type workpiece.

[0012] Preferably, the assembly system also includes a material preparation module, which can place the required model of the insertable workpiece on the insertable workpiece placement table, and bind the model information of the insertable workpiece to the identification unit by scanning the identification unit on the insertable workpiece placement table.

[0013] More preferably, the assembly system further comprises a logistics module, and the logistics module is capable of transporting the insertion type workpiece placement table to one side of the groove type workpiece.

[0014] Specifically, the assembly system further includes a docking module, and one of the plug-in workpiece placement platform and the docking module is provided with a latch, and the other is provided with a pin hole matching the latch.

[0015] As a preferred embodiment, the assembly vision module includes a mobile vision component connected to the grasping module and a fixed vision component connected to the ground, the mobile vision component is suitable for obtaining the image information and position of the groove-type workpiece and scanning the identification unit on the inserted workpiece placement table, and obtaining the position of the inserted workpiece on the inserted workpiece placement table, and the fixed vision component is suitable for obtaining the image information and position of the inserted workpiece on the grasping module.

[0016] Preferably, the slot-type workpiece is provided with a mounting hole for mounting the insert-type workpiece, and the mobile vision component is further adapted to obtain the image information and position of the closed end of the mounting hole, so that the control module can determine the position information P of the closed end of the mounting hole in combination with the digital-analog information of the slot-type workpiece. 安装孔, and then determine the P with reference to the reference coordinate direction 槽安装 .

[0017] More preferably, the fixed vision component is also suitable for obtaining the image of the inserted workpiece and transmitting it to the control module, so that the control module can control the grasping module to adjust the inserted workpiece to a direction suitable for insertion into the mounting hole; the control module is also suitable for judging whether the direction of the inserted workpiece relative to the mounting hole is correct based on the image information and position of the inserted workpiece on the grasping module.

[0018] Specifically, the grabbing module is provided with a force control unit for real-time monitoring of the reaction force of the grabbing module, and the control module can adjust the moving position and direction of the grabbing module according to data of the force control unit.

[0019] Typically, the initial installation position of the inserted workpiece includes an initial position and an installation angle, and the control module can control the gripping module to transport the clamped inserted workpiece to the initial position and adjust it to the installation angle, and then install the inserted workpiece on the slot workpiece.

[0020] A second aspect of the present invention provides an assembly method, using the aforementioned assembly system, the method comprising the following steps:

[0021] S1, using the assembly vision module to obtain the image information and position of the slot workpiece and transmit it to the control module, so that the control module determines the reference coordinate direction, and determines the installation position information P of the inserted workpiece on the slot workpiece in combination with the digital model information of the slot workpiece 槽安装 ;

[0022] S2, using the assembly vision module to scan the identification unit on the insertable workpiece placement table and transmit it to the control module to identify the required model of the insertable workpiece, and then using the assembly vision module to obtain the position of the insertable workpiece on the insertable workpiece placement table and transmit it to the control module, so that the control module controls the grasping module to grasp the insertable workpiece;

[0023] S3, using the assembly vision module to obtain the image information and position of the inserted workpiece on the grasping module and transmit it to the control module, so that the control module determines the position information P of the inserted workpiece on the grasping module in combination with the digital model information of the inserted workpiece 插入 ;

[0024] S4, the control module according to the P 槽安装 , the P 插入and the digital model information of the slot-type workpiece, determine the initial installation position of the insert-type workpiece, and control the gripping module to install the clamped insert-type workpiece from the initial installation position to the slot-type workpiece.

[0025] Through the above technical scheme, the assembly system provided by the present invention utilizes the assembly vision module to obtain the image information of the slot-type workpiece and the inserted workpiece, so that the control module can comprehensively analyze the grasping position and the assembly position of the inserted workpiece. At the same time, the inserted workpiece placement table is provided with an identification unit for recording the model information of the inserted workpiece. Combined with the scanning transmission of the assembly vision module, the control module can identify the inserted workpiece that matches the slot-type workpiece, and then guide the grasping module to grasp the inserted workpiece of the corresponding model and install it. Not only can the precise positioning and installation of the inserted workpiece and the slot-type workpiece be achieved, and the assembly quality can be improved, but also the entire assembly process can be realized. Information and automated operation of the entire process are realized, effectively improving production efficiency, saving labor costs, and reducing labor intensity.

[0026] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings:

[0028] Figure 1 It is a structural schematic diagram of a preferred embodiment of the assembly system of the present invention;

[0029] Figure 2 It is a structural schematic diagram of a preferred embodiment of the insertable workpiece placement table of the present invention;

[0030] Figure 3 yes Figure 2 A perspective view of the insertable workpiece placement table is shown.

[0031] Description of Reference Numerals

[0032] 1 Insertion workpiece 11 Tensioning mechanism

[0033] 12 guide wheel assembly 2 groove workpiece

[0034] 3Assembly vision module 31Move vision component

[0035] 32 fixed visual components 4 grab modules

[0036] 41 force control unit 42 robot

[0037] 43 fixture 5 insert workpiece placement table

[0038] 51 identification unit 52 tray base

[0039] 53 first guide wheel positioning seat 531 vertical plate

[0040] 54 second guide wheel positioning seat 541 arc-shaped groove

[0041] 55 tension spring positioning seat 56 error-proof blocking rod

[0042] 57 positioning pin hole 6 connection module

[0043] 7Clamp quick change table 8Control module DETAILED DESCRIPTION

[0044] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a connection between the insides of two parts. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0046] The first aspect of the present invention provides an assembly system, see Figure 1 , used for plug-in installation between an insert-type workpiece 1 and a slot-type workpiece 2, comprising a control module 8, an assembly vision module 3, a gripping module 4 and at least one insert-type workpiece placement table 5, wherein the insert-type workpiece placement table 5 is provided with an identification unit 51 for identifying the model information of the insert-type workpiece 1 placed on the insert-type workpiece placement table 5; the assembly vision module 3 is adapted to obtain the image information and position of the slot-type workpiece 2 and transmit it to the control module 8, so that the control module 8 can determine the reference coordinate direction, and determine the installation position information P of the insert-type workpiece 1 on the slot-type workpiece 2 in combination with the digital model information of the slot-type workpiece 2 槽安装; The assembly vision module 3 is suitable for scanning the identification unit 51 on the insertable workpiece placement table 5, and obtaining the position of the insertable workpiece 1 on the insertable workpiece placement table 5 and transmitting it to the control module 8, so that the control module 8 can identify the required model of the insertable workpiece 1, and control the grasping module 4 to grasp the insertable workpiece 1; the assembly vision module 3 is also suitable for obtaining the image information and position of the insertable workpiece 1 on the grasping module 4 and transmitting it to the control module 8, so that the control module 8 can determine the position information P of the insertable workpiece 1 on the grasping module 4 in combination with the digital model information of the insertable workpiece 1 插入 ; The control module 8 is suitable for 槽安装 , P 插入 and the digital model information of the slot-type workpiece 2, determine the initial installation position of the inserted workpiece 1, and control the gripping module 4 to install the clamped inserted workpiece 1 onto the slot-type workpiece 2 from the initial installation position.

[0047] In the present invention, the assembly vision module 3 is electrically connected to the control module 8 so that the image information and position obtained by the assembly vision module can be transmitted to the control module 8. The control module 8 is electrically connected to the gripping module 4 so that the control module 8 can be used to control the posture and movement of the gripping module 4. The gripping module 4 can use an automatic control device such as a robot 42. The insertion workpiece placement table 5 is suitable for carrying one or more specifications and models of the insertion workpiece 1 and limiting the position. It can be specifically designed or selected according to the needs of the assembly system. Among them, the digital model information of the slot workpiece 2 and the digital model information of the insertion workpiece 1 can be two-dimensional or three-dimensional digital model information. Correspondingly, when the digital model information is two-dimensional, the reference coordinate direction includes the X direction and the Y direction, P 槽安装 , P 插入 In the case of two-dimensional coordinate data, when the digital model information is three-dimensional, the reference coordinate directions include the X direction, the Y direction and the Z direction. 槽安装 , P 插入 It is preferably represented by three-dimensional coordinate data; preferably, three-dimensional digital model information is used so that P 槽安装 , P 插入 The position information is more accurate, and the positioning and assembly of the workpiece are more precise.

[0048] In the present invention, the identification unit 51 can be an identification in the form of a QR code, a barcode or a number, and the control module 8 can obtain the model information of the inserted workpiece 1 placed on the inserted workpiece placement table 5 according to the image information of the assembly vision module scanning the identification unit 51. One or more inserted workpiece placement tables 5 can be set, preferably at least two, so as to realize one backup and one use of the inserted workpiece 1, and keep the assembly operation of the inserted workpiece 1 and the groove workpiece 2 continuous. Obtaining the image information and position of each workpiece by assembling the vision module 3 specifically means first obtaining the image information of the workpiece and then obtaining the position.

[0049] The assembly system provided by the present invention can be used for installation between two workpieces connected in a plug-in manner during mechanical assembly, for example, it can be used for sleeve installation, installation of tensioning devices on engineering machinery such as excavators and loaders, etc. In order to better illustrate the working process of the assembly system provided by the present invention, the following is a detailed introduction and description of the process of applying the assembly system to install the tensioning device (i.e., the inserted workpiece 1) of engineering machinery such as excavators and loaders into the crawler beam of the lower frame (i.e., the grooved workpiece 2), wherein the tensioning device includes a guide wheel assembly 12 and a tensioning mechanism 11. Taking the guide wheel assembly 12 and the tensioning mechanism 11 as an integral body connected by bolts as an example, the specific assembly process is as follows:

[0050] The assembly vision module 3 captures the images of the left and right sides of the guide wheel assembly installation groove on the lower frame and transmits them to the control module 8. The control module 8 determines the Z direction position by fitting the upper and lower horizontal planes of the guide wheel assembly installation groove, determines the X direction position by fitting the left and right vertical planes of the guide wheel assembly installation groove, and determines the Y direction position by fitting the end face of the guide wheel assembly installation groove to determine the reference coordinate direction; the control module 8 determines the installation position information P of the tensioning device on the lower frame in combination with the three-dimensional digital model information of the lower frame 槽安装 ; The control module 8 controls the grabbing module 4 to move above the insertable workpiece placement table 5, and the assembly visual module 3 scans the identification unit 51 on the insertable workpiece placement table 5 and transmits it to the control module 8, so that the control module 8 determines that the model information of the tensioning device bound to the identification unit 51 is consistent with the order information model issued by the superior management system, and after identification, the assembly visual module 3 is used to obtain the position of the tensioning device on the insertable workpiece placement table 5 and transmits it to the control module 8, so that the control module 8 controls the grabbing module 4 to grab the tensioning device; the assembly visual module 3 takes images of the left and right sides of the tensioning device guide wheel seat and the assembly cylinder image at the end of the tensioning mechanism 11 and transmits them to the control module 8. The control module 8 determines the three-dimensional position information P of the tensioning device on the grabbing module 4 through comprehensive calculation and combined with the three-dimensional digital model information of the tensioning device. 插入 ; The control module 8 is suitable for 槽安装 , P 插入 As well as the three-dimensional digital model information of the crawler beam on the lower frame, calculate the initial installation position of the tensioning device, and control the grabbing module 4 to carry the tensioning device to the initial installation position, and adjust the posture, install the guide wheel seat into the tensioning device installation groove in the crawler beam and then release it. At this time, the tensioning device is clamped on the installation groove under the action of gravity, and then the grabbing module 4 changes its posture to push the tensioning device inward and install it to the correct position.

[0051] When the guide wheel assembly 12 and the tensioning mechanism 11 in the tensioning device are separate, the assembly process is substantially the same as that of the integrated tensioning device, and the tensioning mechanism 11 and the guide wheel assembly 12 can be respectively installed in two steps.

[0052] In the present invention, the initial installation position of the inserted workpiece 1 may be information of the initial position, or information of the initial position and the installation angle, and whether the installation angle information is required is determined according to the installation requirements of the inserted workpiece 1. The control module 8 can control the gripping module 4 to transport the clamped inserted workpiece 1 to the initial position and adjust it to the installation angle, and then install the inserted workpiece 1 on the groove workpiece 2.

[0053] In order to further improve the degree of automation of the assembly system operation, the assembly system provided by the present invention can adopt corresponding automatic preparation and conveying devices in the preparation area of ​​the inserted workpiece 1 and / or the groove-type workpiece 2. For example, the inserted workpiece 1 can be transported to the position using the inserted workpiece placement table 5 (such as a pallet), and the groove-type workpiece 2 can be transported to the position using the production line transportation system.

[0054] As a preferred embodiment of the insertable workpiece placement platform 5 carrying the tensioning device, a tray is used. Figure 2 and Figure 3 , including a tray base 52, on which a plurality of first guide wheel positioning seats 53 and / or a plurality of second guide wheel positioning seats 54 are arranged, a tension spring positioning seat 55 is arranged between the first guide wheel positioning seat 53 and the second guide wheel positioning seat 54 located on the same side, or between two second guide wheel positioning seats 54 located on the same side, or between two first guide wheel positioning seats 53 located on the same side, a single first guide wheel positioning seat 53 includes two vertical plates 531, a gap is formed between the two vertical plates 531, so as to support the guide wheel seat and accommodate the guide wheel of the tensioning device, and an arc-shaped groove 541 is formed at the upper end of the second guide wheel positioning seat 54, so as to support the guide wheel hanger of the tensioning device. The insertable workpiece placing platform 5 can effectively position the tensioning device, has a simple structure, and has a good positioning effect.

[0055] Multiple first guide wheel positioning seats 53 and / or multiple second guide wheel positioning seats 54 are provided on both sides along the length direction of the pallet base 52. The first guide wheel positioning seats 53 and multiple second guide wheel positioning seats 54 are connected to the pallet base 52 in a detachable manner. Therefore, multiple groups of connection holes are provided on the pallet base 52. Different combinations and installation structures at different positions can be selected according to actual use requirements to meet the distribution requirements of more tensioning devices. A tension spring positioning seat 4 is also provided between the first guide wheel positioning seat 53 and the second guide wheel positioning seat 54, or between the two second guide wheel positioning seats 54 on the same side. The tension spring positioning seat 55 can also be set to be detachably connected, and the number and installation position can be set according to actual use requirements.

[0056] As a preferred embodiment, the assembly system also includes a material preparation module, which can place the required model of the inserted workpiece 1 on the inserted workpiece placement table 5, and bind the model information of the inserted workpiece 1 to the identification unit 51 by scanning the identification unit 51 on the inserted workpiece placement table 5. According to the order information distributed by the superior management system, the material preparation module places the corresponding model of the inserted workpiece 1 on the inserted workpiece placement table 5 in the material preparation area, and binds the information of the inserted workpiece 1 to the identification unit 51 by scanning the identification unit 51 on the inserted workpiece placement table 5, so that the information recorded in the identification unit 51 can be updated with different models of inserted workpieces 1, so that the inserted workpiece placement table 5 is suitable for a variety of inserted workpieces 1, and the application is more flexible.

[0057] As another preferred embodiment, the assembly system provided by the present invention further includes a logistics module, which can transport the insertable workpiece placement table 5 to one side of the slot-type workpiece 2 located on the workstation to realize automatic transportation of the insertable workpiece 1.

[0058] Preferably, the assembly system further includes a docking module 6, and one of the inserted workpiece placement platform 5 and the docking module 6 is provided with a latch, and the other is provided with a pin hole matching the latch, so that the logistics module transports the inserted workpiece placement platform 5 to the docking module 6 and inserts the latch into the corresponding socket, thereby achieving accurate positioning of the inserted workpiece placement platform 5 and the docking module 6, determining the position and direction of the inserted workpiece placement platform 5, and thus facilitating the assembly vision module 3 and the control module 8 to determine the position of the inserted workpiece 1. Specifically, the assembly vision module 3 can respectively capture the left and right images of the inserted workpiece 1 on the docking module 6 and transmit them to the control module 8, so that the control module 8 determines the position information P of the inserted workpiece 1 on the inserted workpiece placement platform 5. 取料 , and controls the gripping module 4 to grip the inserted workpiece 1.

[0059] The docking module 6 can be fixed on the ground or on other fixed components of the assembly system. Preferably, two are provided to realize a backup and a use of the insertable workpiece placement table 5 and the insertable workpiece 1. The docking module 6 can also be provided with a docking power unit to cooperate with the logistics module to transport the insertable workpiece placement table 5 to the docking module 6 so that the pins are inserted into the corresponding sockets.

[0060] At this time, the insertable workpiece placement platform 5 may be provided with an anti-error blocking rod 56, which is used in conjunction with the docking module 6 to prevent the insertable workpiece placement platform 5 from reversely entering the docking module 6 (if reversely entering, the docking module 6 will issue an alarm).

[0061] In the present invention, the assembly vision module 3 can adopt a conventional vision system and move with a driving device to collect a variety of different image information and positions. As a preferred embodiment, the assembly vision module 3 includes a mobile vision component 31 connected to the grasping module 4 and a fixed vision component 32 connected to the ground. The mobile vision component 31 is suitable for moving with the grasping module 4 to obtain the image information and position of the groove workpiece 2 and scan the identification unit 51 on the inserted workpiece placement table 5, and obtain the position of the inserted workpiece 1 on the inserted workpiece placement table 5. The fixed vision component 32 is suitable for obtaining the image information and position of the inserted workpiece 1 on the grasping module 4. The grasping module 4 carries the inserted workpiece 1 to move to the fixed vision component 32, and the image information and position of the inserted workpiece 1 are obtained by shooting with the fixed vision component 32 and transmitted to the control system. At this time, the control system can also be used to obtain the real-time direction of the inserted workpiece 1 on the grasping module 4, which is convenient for judging whether the direction of the inserted workpiece 1 is correct and avoiding rework in the later stage.

[0062] In the present invention, a mounting hole for mounting the insert-type workpiece 1 is provided on the slot-type workpiece 2. Preferably, the mobile visual component 31 is also adapted to obtain the image information and position of the closed end of the mounting hole, so that the control module 8 can determine the position information P of the closed end of the mounting hole in combination with the digital-analog information of the slot-type workpiece 2. 安装孔 , and then refer to the reference coordinate direction obtained according to the image information and position of the slot workpiece 2 to determine P 槽安装 Taking the integrated tensioning device and lower frame as an example, the mobile visual component 31 photographs the inspection port of the tensioning mechanism on the lower frame and transmits it to the control module 8. The control module 8 obtains the three-dimensional position information P of the cylindrical mounting hole at the front end of the tensioning mechanism on the lower frame by matching with the three-dimensional digital model of the lower frame. 安装孔 ; Comprehensive guide wheel installation slot position information in the XYZ direction and P 安装孔 , determine P 槽安装 .

[0063] In order to more accurately detect whether the direction of the insertion end of the inserted workpiece 1 is correct when it is installed, it is further preferred that the fixed visual component 32 is also suitable for obtaining an image of the inserted workpiece 1 (e.g., a side image) and transmitting it to the control module 8, so that the control module 8 can control the gripping module 4 to adjust the inserted workpiece 1 to a direction suitable for inserting into the installation hole; the control module 8 is also suitable for judging whether the direction of the inserted workpiece 1 relative to the installation hole is correct based on the image information and position of the inserted workpiece 1 on the gripping module 4. Taking the integrated tensioning device and the lower frame as an example, the mobile visual component 31 moves to the side of the inserted workpiece placement table 5, photographs the side of the guide wheel seat on the guide wheel and transmits it to the control module 8, the control module 8 judges the direction of the tensioning device, and controls the gripping module 4 to adjust the tensioning device to a direction suitable for inserting into the installation hole, so that the oil filling port / inspection port on the guide wheel seat is located at the guide wheel inspection port on the crawler beam.

[0064] In the present invention, the grasping module 4 can adopt a conventional grasping mechanism. Preferably, the grasping module 4 adopts a module formed by a detachable connection between a robot 42 and a fixture 43, and then different fixtures 43 can be selected according to different specifications and models of inserted workpieces 1 to ensure that the posture of the fixture 43 grasping the inserted workpiece 1 is unified; further preferably, the assembly system can be provided with a fixture quick-change table 7 for placing a variety of fixtures 43, so that the robot 42 can select the fixture 43 as needed, and a quick-change disk is provided on the robot 42 to realize automatic quick change of the fixture 43.

[0065] As a preferred embodiment of the grabbing module 4, a force control unit 41 is provided on the grabbing module 4 for real-time monitoring of the reaction force of the grabbing module 4, and the control module 8 can adjust the travel position and direction of the grabbing module 4 according to the data of the force control unit 41. The force control unit 41 can be installed at the end of the grabbing module 4 through a flange plate, and is used to sense the force condition of the clamp 43 at the end of the grabbing module 4 in real time, so as to facilitate the control system to adjust the posture of the end clamp 43 and realize flexible assembly.

[0066] The gripping module 4 carries the inserted workpiece 1 and is installed into the mounting hole on the slot-type workpiece 2 according to the installation angle. The force control unit 41 monitors the reaction force received by the gripping module 4 and the contact end of the inserted workpiece 1 in real time. When the inserted workpiece 1 collides with the slot-type workpiece 2, the reaction force increases sharply. The force control unit 41 obtains the size and direction of the reaction force and transmits it to the control module 8. When the size of the reaction force exceeds the threshold of the force control unit 41, the control module 8 controls the gripping module 4 to adjust the moving posture and direction to avoid collision. On the one hand, this protects the surface paint of the inserted workpiece 1 and the slot-type workpiece 2, and on the other hand, it avoids damage to the workpieces caused by strong collision. When the inserted workpiece 1 is an integrated or split tensioning device, since the guide wheel mounting groove and the tensioning mechanism mounting hole in the crawler beam of the lower frame are welded by steel plates with limited accuracy, the initial installation position calculated by the control module 8 cannot completely guarantee that the tensioning device does not collide with the crawler beam during installation. The force control unit 41 can effectively avoid the problem of collision between the tensioning device and the crawler beam during installation due to the low accuracy of the guide wheel mounting groove and the tensioning mechanism mounting hole caused by welding.

[0067] Based on the above assembly system, the second aspect of the present invention provides an assembly method, which comprises the following steps:

[0068] S1, using the assembly vision module 3 to obtain the image information and position of the slot workpiece 2 and transmit it to the control module 8, so that the control module 8 determines the reference coordinate direction, and determines the installation position information P of the inserted workpiece 1 on the slot workpiece 2 in combination with the digital model information of the slot workpiece 2 槽安装 ;

[0069] S2, using the assembly vision module 3 to scan the identification unit 51 on the insertable workpiece placement table 5 and transmit it to the control module 8 to identify the required model of the insertable workpiece 1, and then using the assembly vision module 3 to obtain the position of the insertable workpiece 1 on the insertable workpiece placement table 5 and transmit it to the control module 8, so that the control module 8 controls the grasping module 4 to grasp the insertable workpiece 1;

[0070] S3, using the assembly vision module 3 to obtain the image information and position of the inserted workpiece 1 on the grasping module 4 and transmit it to the control module 8, so that the control module 8 determines the position information P of the inserted workpiece 1 on the grasping module 4 in combination with the digital model information of the inserted workpiece 1 插入 ;

[0071] S4, control module 8 according to P 槽安装 , P 插入 and the digital model information of the slot-type workpiece 2, determine the initial installation position of the inserted workpiece 1, and control the gripping module 4 to install the clamped inserted workpiece 1 onto the slot-type workpiece 2 from the initial installation position.

[0072] The assembly method provided by the present invention can realize fully automatic unmanned operation of grabbing and assembling workpieces, save labor costs, and reduce labor intensity.

[0073] As a relatively preferred specific embodiment of the assembly system in the present invention, the assembly system is used for plug-in installation between an insert-type workpiece 1 and a slot-type workpiece 2. The slot-type workpiece 2 is provided with an installation hole for installing the insert-type workpiece 1. Figure 1 , including a control module 8, an assembly vision module 3, a gripping module 4, at least two plug-in workpiece placement tables 5 (using pallets), a material preparation module, a logistics module, a docking module 6 and a fixture quick-change table 7 for placing various fixtures 43; the assembly vision module 3 and the gripping module 4 are electrically connected to the control module 8; the gripping module 4 includes a robot 42, a fixture 43 detachable from the robot 42, and a force control unit 41 connected to the fixture 43, and the control module 8 can adjust the travel position and direction of the gripping module 4 according to the data of the force control unit 41; an identification unit 51 is provided on the plug-in workpiece placement table 5, and the material preparation module can place the required model of the plug-in workpiece 1 on the plug-in workpiece placement table 5, and scan the identification unit 51 on the plug-in workpiece placement table 5 to obtain the model information of the plug-in workpiece 1. Bound in the identification unit 51; a latch is provided on the docking module 6, and a positioning pin hole 57 matching the latch is provided on the inserted workpiece placement table 5. The logistics module can cooperate with the docking power unit on the docking module 6 to transport the inserted workpiece placement table 5 to the docking module 6 so that the latch is inserted into the corresponding socket; the assembly vision module 3 includes a mobile vision component 31 connected to the grasping module 4 and a fixed vision component 32 connected to the ground. The mobile vision component 31 is suitable for obtaining the image information and position of the slot-type workpiece 2 and transmitting it to the control module 8 so that the control module 8 can determine the reference coordinate direction. The mobile vision component 31 is also suitable for obtaining the image information and position of the closed end of the mounting hole, so that the control module 8 can determine the three-dimensional position information P of the closed end of the mounting hole in combination with the three-dimensional digital model information of the slot-type workpiece 2. 安装孔 , and then refer to the reference coordinate direction to determine P 槽安装; The mobile visual component 31 is suitable for scanning the identification unit 51 on the inserted workpiece placement table 5, and obtains the position of the inserted workpiece 1 on the inserted workpiece placement table 5 and transmits it to the control module 8, so that the control module 8 can identify the required model of the inserted workpiece 1, and control the grasping module 4 to grasp the inserted workpiece 1; the mobile visual component 31 is also suitable for obtaining the side image of the inserted workpiece 1 and transmitting it to the control module 8, so that the control module 8 can control the grasping module 4 to adjust the inserted workpiece 1 to a direction suitable for inserting into the mounting hole; the fixed visual component 32 is also suitable for obtaining the image information and position of the inserted workpiece 1 on the grasping module 4 and transmitting it to the control module 8, so that the control module 8 can determine the three-dimensional position information P of the inserted workpiece 1 on the grasping module 4 in combination with the three-dimensional digital model information of the inserted workpiece 1 插入 , and judge whether the direction of the inserted workpiece 1 relative to the mounting hole is correct according to the image information and position of the inserted workpiece 1 on the grasping module 4; the control module 8 is suitable for 槽安装 , P 插入 And the three-dimensional digital model information of the groove-type workpiece 2, determine the initial installation position (including the initial three-dimensional position and the installation angle) of the inserted workpiece 1, and control the grasping module 4 to transport the clamped inserted workpiece 1 to the initial three-dimensional position and adjust it to the installation angle, and then install the inserted workpiece 1 on the groove-type workpiece 2.

[0074] Using the above-mentioned assembly system, the process of installing the tensioning device (i.e., the inserted workpiece 1) in which the guide wheel assembly 12 and the tensioning mechanism 11 are connected as one into the crawler beam of the lower frame (i.e., the grooved workpiece 2) is as follows:

[0075] S1. According to the order information sent by the superior management system, the material preparation module places the tensioning device of the corresponding model on the insertable workpiece placement table 5 (i.e., the pallet) in the material preparation area, and binds the specification and model of the tensioning device to the identification unit 51 by scanning the identification unit 51 on the pallet; the logistics module transports the pallet with the tensioning device to the assembly line, docks with the docking module 6, and transports the pallet to the docking module 6 through the logistics module and the docking power unit on the docking module 6. The positioning pin on the docking module 6 clamps the positioning pin hole on the pallet to position the pallet; the conveying device of the production line carries the lower frame of the excavator, loader and other engineering machinery into the station, and the grabbing module 4 moves to the fixture quick-change station 7 to replace the fixture 43 of the tensioning device that matches the current model;

[0076] S2, the mobile visual component 31 takes the left and right images of the tensioning device guide wheel installation groove on the lower frame and transmits them to the control module 8, the control module 8 determines the Z direction position by fitting the upper and lower horizontal surfaces of the installation groove, determines the X direction position by fitting the left and right vertical surfaces of the installation groove, and determines the Y direction position by fitting the end surface of the installation groove to determine the reference coordinate direction; the mobile visual component 31 takes the tensioning mechanism inspection port on the lower frame and transmits it to the control module 8, the control module 8 indirectly calculates the three-dimensional position information P of the cylindrical installation hole at the front end of the tensioning mechanism on the lower frame by matching the three-dimensional digital model with the lower frame. 安装孔 The control module 8 integrates the position information of the guide wheel installation groove in three directions XYZ and the three-dimensional position information P of the tensioning mechanism installation hole 安装孔 , determine the three-dimensional position information P of the tensioning device installation position 槽安装 ;

[0077] S3, the grabbing module 4 moves to the top of the pallet, the mobile visual component 31 scans the identification unit 51 on the pallet and transmits it to the control module 8. After the control module 8 determines that the tensioning device information bound to the identification unit 51 is consistent with the order information model issued by the superior management system, the grabbing module 4 is controlled to move to the side of the pallet, and the mobile visual component 31 photographs the side of the guide wheel seat on the guide wheel and transmits it to the control module 8. The control module 8 determines the direction of the tensioning device and controls the grabbing module 4 to adjust the tensioning device to a direction suitable for inserting into the installation hole, so that the oil filling port / inspection port on the guide wheel seat is located at the guide wheel inspection port on the crawler beam; the mobile visual component 31 is then used to respectively photograph the left and right sides of the tensioning device guide wheel seat and transmit them to the control module 8, so that the control module 8 determines the three-dimensional position information P of the tensioning device on the pallet. 取料 , and control the grabbing module 4 to use the clamp 43 to clamp the tensioning device;

[0078] S4, the gripping module 4 carries the tensioning device to the fixed visual component 32, the fixed visual component 32 takes the left and right images of the guide wheel seat of the tensioning device and the image of the assembly cylinder at the end of the tensioning mechanism and transmits them to the control module 8, the control module 8 determines the three-dimensional position information P of the tensioning device on the fixture 43 of the gripping module 4 through comprehensive calculation and combined with the three-dimensional digital model information of the tensioning device 插入 ; At the same time, determine whether the direction of the oil filling port at the end of the tensioning mechanism 11 is correct;

[0079] S5, control module 8 according to P 槽安装 and P 插入, comprehensively compare the three-dimensional model information of the crawler beam on the lower frame, calculate the initial installation position and installation angle of the tensioning device, and control the gripping module 4 to carry the tensioning device to move to the initial installation position, and adjust the posture so that the direction of the tensioning device is consistent with the installation angle direction, and continue to control the gripping module 4 to carry the tensioning device to install the tensioning device in the crawler beam of the lower frame according to the installation angle. During the installation process, the force control unit 41 monitors the reaction force transmitted from the clamp 43 of the gripping module 4 in real time. When the tensioning device collides with the crawler beam, the reaction force increases sharply, and the force The control system obtains the magnitude and direction of the reaction force and transmits it to the control module 8. When the magnitude of the reaction force exceeds the threshold of the force control unit 41, the control module 8 controls the gripping module 4 to adjust the travel posture and direction to avoid collision; after the gripping module 4 installs the guide wheel seat of the tensioning device to the tensioning device installation groove in the crawler beam, the clamp 43 of the gripping module 4 is released, so that the tensioning device is clamped on the installation groove under the action of gravity, and then the gripping module 4 changes its posture, and uses the connecting plate on the clamp 43 of the gripping module 4 to push the tensioning device inward and install it to the correct position;

[0080] Repeat steps S2-S5 to continue installing the second tensioning device of the lower frame. After all tensioning devices on the lower frame are installed, the grabbing module 4 is reset, and the conveying device of the production line carries the lower frame of the excavator, loader and other construction machinery to leave the workstation.

[0081] The assembly system provided by the present invention utilizes the assembly vision module 3 to obtain image information of the groove-type workpiece 2 and the inserted workpiece 1, so that the control module 8 can comprehensively analyze the grasping position and assembly position of the inserted workpiece 1. At the same time, an identification unit 51 for recording the model information of the inserted workpiece 1 is provided on the inserted workpiece placement table 5. Combined with the scanning transmission of the assembly vision module 3, the control module 8 can identify the inserted workpiece 1 that matches the groove-type workpiece 2, and then guide the grasping module 4 to grasp the corresponding model of the inserted workpiece 1 and install it. Not only can the precise positioning and installation of the inserted workpiece 1 and the groove-type workpiece 2 be achieved, and the assembly quality can be improved, but also the entire assembly process can be realized. Information and automated operation of the entire process are realized, effectively improving production efficiency, saving labor costs, and reducing labor intensity.

[0082] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, a variety of simple modifications can be made to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.

[0083] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations. In addition, the various different embodiments of the present invention can also be combined arbitrarily, as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. An assembly system for inserting and installing an insert-type workpiece (1) and a slot-type workpiece (2), characterized in that: The invention comprises a control module (8), an assembly vision module (3), a gripping module (4) and at least one insertable workpiece placement table (5), wherein the insertable workpiece placement table (5) is provided with an identification unit (51) for identifying the model information of the insertable workpiece (1) placed on the insertable workpiece placement table (5); The assembly vision module (3) is adapted to obtain image information and position of the slot-type workpiece (2) and transmit the image information and position to the control module (8), so that the control module (8) can determine the reference coordinate direction and determine the installation position information P of the insert workpiece (1) on the slot-type workpiece (2) in combination with the digital model information of the slot-type workpiece (2). 槽安装 ; The assembly vision module (3) is adapted to scan the identification unit (51) on the insertable workpiece placement table (5), and obtain the position of the insertable workpiece (1) on the insertable workpiece placement table (5) and transmit the position to the control module (8), so that the control module (8) can identify the insertable workpiece (1) of the required model and control the grasping module (4) to grasp the insertable workpiece (1); The assembly vision module (3) is further adapted to obtain image information and position of the inserted workpiece (1) on the gripping module (4) and transmit the image information and position to the control module (8), so that the control module (8) can determine the position information P of the inserted workpiece (1) on the gripping module (4) in combination with the digital model information of the inserted workpiece (1). 插入 ; The control module (8) is adapted to 槽安装 , the P 插入 and the digital model information of the slot-type workpiece (2), determine the initial installation position of the insert-type workpiece (1), and control the gripping module (4) to install the clamped insert-type workpiece (1) from the initial installation position to the slot-type workpiece (2).

2. The assembly system according to claim 1, characterized in that: The assembly system further comprises a material preparation module, which is capable of placing the insertable workpiece (1) of a required model on the insertable workpiece placement table (5), and binding the model information of the insertable workpiece (1) to the identification unit (51) by scanning the identification unit (51) on the insertable workpiece placement table (5).

3. The assembly system according to claim 1, characterized in that: The assembly system further comprises a logistics module, which is capable of transporting the insertion-type workpiece placement table (5) to one side of the groove-type workpiece (2).

4. The assembly system according to claim 1, characterized in that: The assembly system further comprises a docking module (6), wherein one of the insertable workpiece placement platform (5) and the docking module (6) is provided with a latch, and the other is provided with a pin hole matching the latch.

5. The assembly system according to any one of claims 1 to 4, characterized in that: The assembly vision module (3) comprises a mobile vision component (31) connected to the gripping module (4) and a fixed vision component (32) connected to the ground, wherein the mobile vision component (31) is suitable for obtaining image information and position of the slot-type workpiece (2) and scanning the identification unit (51) on the insertion workpiece placement table (5), and obtaining the position of the insertion workpiece (1) on the insertion workpiece placement table (5), and the fixed vision component (32) is suitable for obtaining image information and position of the insertion workpiece (1) on the gripping module (4).

6. The assembly system according to claim 5, characterized in that: The slot-type workpiece (2) is provided with a mounting hole for mounting the insert-type workpiece (1), and the mobile visual component (31) is also adapted to obtain image information and position of the closed end of the mounting hole, so that the control module (8) can determine the position information P of the closed end of the mounting hole in combination with the digital-analog information of the slot-type workpiece (2). 安装孔 , and then determine the P with reference to the reference coordinate direction 槽安装 .

7. The assembly system according to claim 6, characterized in that: The fixed vision component (32) is also suitable for obtaining an image of the insertable workpiece (1) and transmitting it to the control module (8), so that the control module (8) can control the gripping module (4) to adjust the insertable workpiece (1) to a direction suitable for inserting into the mounting hole; The control module (8) is also suitable for judging whether the direction of the inserted workpiece (1) relative to the mounting hole is correct based on the image information and position of the inserted workpiece (1) on the grasping module (4).

8. The assembly system according to any one of claims 1 to 4, characterized in that: The gripping module (4) is provided with a force control unit (41) for real-time monitoring of the reaction force of the gripping module (4), and the control module (8) is capable of adjusting the moving position and direction of the gripping module (4) according to data from the force control unit (41).

9. The assembly system according to any one of claims 1 to 4, characterized in that: The initial installation position of the insertable workpiece (1) includes an initial position and an installation angle, and the control module (8) is capable of controlling the gripping module (4) to transport the clamped insertable workpiece (1) to the initial position and adjust it to the installation angle, and then install the insertable workpiece (1) on the groove workpiece (2).

10. An assembly method, characterized in that: Using the assembly system according to any one of claims 1 to 9, the method comprises the following steps: S1, using the assembly vision module (3) to obtain image information and position of the slot-type workpiece (2) and transmit the image information and position to the control module (8), so that the control module (8) determines the reference coordinate direction, and determines the installation position information P of the insertion workpiece (1) on the slot-type workpiece (2) in combination with the digital model information of the slot-type workpiece (2). 槽安装 ; S2, using the assembly vision module (3) to scan the identification unit (51) on the insertable workpiece placement table (5) and transmit the information to the control module (8) to identify the insertable workpiece (1) of the required model, and then using the assembly vision module (3) to obtain the position of the insertable workpiece (1) on the insertable workpiece placement table (5) and transmit the information to the control module (8), so that the control module (8) controls the grasping module (4) to grasp the insertable workpiece (1); S3, using the assembly vision module (3) to obtain image information and position of the inserted workpiece (1) on the grasping module (4) and transmit the image information and position to the control module (8), so that the control module (8) determines the position information P of the inserted workpiece (1) on the grasping module (4) in combination with the digital model information of the inserted workpiece (1). 插入 ; S4, the control module (8) according to the P 槽安装 , the P 插入 and the digital model information of the slot-type workpiece (2), determine the initial installation position of the insert-type workpiece (1), and control the gripping module (4) to install the clamped insert-type workpiece (1) from the initial installation position to the slot-type workpiece (2).

Images