Robot top riveting system for inhibiting sliding of top iron end

Abstract

The invention relates to a robot top riveting system used for restraining sliding of a top iron end, the robot top riveting system comprises a sensor, an analog quantity extension module, a riveting execution mechanism and a PLC, the sensor collects top riveting data and sends a data signal to the analog quantity extension module, the riveting execution mechanism comprises three mechanical arms, the mechanical arms are in communication connection with the PLC, and the PLC is connected with the analog quantity extension module. The middle mechanical arm drives the jacking iron to a designated riveting position, and the mechanical arms on the two sides restrain the jacking iron from sliding. The damping system and the multi-robot jacking riveting system are used, sliding of jacking iron in the jacking riveting process is restrained, and therefore the stability and reliability of the whole riveting operation are improved; by monitoring and adjusting the top riveting process in real time, the precision of top riveting operation is ensured, and the operation defect caused by sliding of the top iron end is avoided, so that the operation quality is remarkably improved; according to the invention, a data acquisition system and an advanced control system are integrated, the intelligence of the top riveting operation is realized, and an operator can easily set top riveting parameters and control the top riveting operation through a human-computer interaction interface.

Description

Technical Field

[0001] The invention relates to the technical field of riveting, and in particular to a robot top riveting system for suppressing sliding of a top iron end. Background Art

[0002] As an important mechanical connection technology, pneumatic hammer riveting plays an irreplaceable role in modern manufacturing. With the continuous development of industrial technology, the demand for efficient and reliable structural parts connection is increasing. Pneumatic hammer riveting technology has attracted much attention and is widely used due to its unique advantages.

[0003] PLC has strong reliability and anti-interference ability, and is increasingly used in automated industrial applications. At the same time, with the development of science and technology, collaborative robots have been widely used in the assembly industry. The application of robot technology has become an inevitable choice for China's assembly industry to reduce labor intensity, improve production efficiency, and ensure installation quality.

[0004] The traditional riveting process requires manual operation, which has low processing efficiency and is easily affected by human factors, which can easily lead to quality problems. The automatic top riveting system can realize the automation of top riveting, improve production efficiency and product quality. However, the single-arm top riveting cannot guarantee the stability of the top iron end. Summary of the invention

[0005] In order to solve the technical problems existing in the prior art, the present invention provides a robot top riveting system for suppressing the sliding of the top iron end.

[0006] To achieve the above object, the technical solution of the present invention is as follows:

[0007] A robot top riveting system for suppressing the sliding of the top iron end comprises a sensor, an analog expansion module, a riveting actuator and a PLC. The sensor collects top riveting data and sends the data signal to the analog expansion module. The riveting actuator comprises three mechanical arms which are connected to the PLC for communication. The middle mechanical arm brings the top iron to a specified riveting position, and the mechanical arms on both sides suppress the sliding of the top iron.

[0008] As a preferred technical solution, the system also includes a touch screen, which displays a human-computer interaction interface to control the start and end of top riveting and input top riveting parameters. The top riveting parameters include top riveting time, top tightening force, preparation time, UR robot running speed and UR robot starting coordinates.

[0009] As a preferred technical solution, the system also includes a signal indicator light, which is connected to the PLC, and the signal indicator light includes a preparation status indicator light and a top riveting status indicator light.

[0010] As a preferred technical solution, the system also includes a speaker, which emits a prompt sound during top riveting.

[0011] As a preferred technical solution, the riveting actuator adopts a cylinder.

[0012] As a preferred technical solution, after the middle mechanical arm is tightened, the mechanical arms on both sides clamp the middle mechanical arm to suppress the sliding of the top iron end.

[0013] As a preferred technical solution, the system also includes a power switch, an air source, a solenoid valve and an electric proportional valve, and both the solenoid valve and the electric proportional valve are electrically connected to the PLC.

[0014] As a preferred technical solution, an operating method of a robot top riveting system for suppressing sliding of a top iron end comprises the following steps:

[0015] Step 1: Turn on the power switch, and turn on the gas source after the system is initialized;

[0016] Step 2: The system starts and performs self-test to ensure that all hardware and software are working properly, including the robot arm, PLC, cylinder, and sensor.

[0017] Step 3: Input the top riveting parameters and their riveting coordinates on the touch screen;

[0018] Step 4: Perform path planning according to the set top riveting parameters and riveting coordinates to generate the motion trajectory of the robot top riveting;

[0019] Step 5: Click the "Start" button on the touch screen. The system starts the robot arm to perform the top riveting operation according to the planned motion trajectory and the set moving speed. During the top riveting process, the motion state and force condition of the top iron end are monitored in real time, and the top riveting state is adjusted.

[0020] Step 6: After riveting is completed, perform a top riveting quality inspection and record the operation results to provide data support for subsequent analysis and improvement;

[0021] Step seven, finish the top riveting operation, restore the system to its initial state and then shut down the system.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) The present invention effectively suppresses the sliding of the top iron end during the top riveting process by using a damping system and a multi-robot top riveting system, thereby improving the stability and reliability of the entire riveting operation.

[0024] (2) The present invention can ensure the accuracy of the top riveting operation by real-time monitoring and adjusting the top riveting process, avoid operational defects caused by sliding of the top iron end, and thus significantly improve the operation quality.

[0025] (3) The present invention integrates a data acquisition system and an advanced control system to realize the intelligent top riveting operation. The operator can easily set the top riveting parameters and control the top riveting operation through the human-computer interaction interface. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a block diagram of a robot top riveting system for suppressing sliding of a top iron end of the present invention;

[0027] Figure 2 This is an I / O port wiring diagram of a robot top riveting system for suppressing sliding of a top iron end of the present invention;

[0028] Figure 3 It is a schematic diagram of a solidworks model of a robot top riveting system for suppressing sliding of a top iron end of the present invention;

[0029] Figure 4 It is a control logic diagram of the robot top riveting system for suppressing the sliding of the top iron end of the present invention;

[0030] Figure 5 The invention relates to a human-machine interaction interface of a robot top riveting system for suppressing sliding of a top iron end.

[0031] In the figure: 1. Top iron; 2. Cylinder; 3. Sensor; 4. Middle robotic arm; 5. Both side robotic arms; 6. Rubber damping. DETAILED DESCRIPTION

[0032] The technical solution of the present invention is further described below in conjunction with specific implementation methods:

[0033] like Figure 1 As shown, a robot top riveting system for suppressing the sliding of the top iron end includes a control cabinet, a sensor 3, an analog expansion module, a riveting actuator and a PLC. The sensor 3 collects the top riveting data and sends the data signal to the analog expansion module. The analog expansion module receives the sensor 3 signal. The system integrates the sensor 3 to collect the force value signal, which can detect the motion state and force condition of the top iron 1 end in real time, so as to adjust the control strategy in time. The riveting actuator includes three mechanical arms, namely the UR robot. The mechanical arms and PLC communicate using the I / O port. The middle mechanical arm 4 brings the riveting actuator to the specified riveting position, and the mechanical arms 5 on both sides suppress the sliding of the top iron 1. The PLC adopts Siemens PLC200 Smart, the mechanical arm, namely the UR robot, adopts UR10, and the analog expansion module adopts AM06.

[0034] The system also includes a touch screen, which uses Kunlun Tongtai TPC1031KT touch screen, and the control cabinet realizes human-computer interaction through the touch screen. Figure 5As shown in the figure, the touch screen displays the human-machine interactive interface to control the start and end of top riveting, and input the top riveting parameters, including top riveting time, top tightening force, preparation time, UR robot running speed and UR robot starting coordinates. Through the friendly human-machine interactive interface, the operator can easily set the top riveting parameters, monitor the operation process in real time, and quickly respond to abnormal situations.

[0035] The system can adopt dynamic torque control technology to adjust the torque output of the robot arm joint in real time to adapt to different top riveting requirements and suppress vibration, ensuring the stability of the top iron end during operation.

[0036] Through intelligent path planning technology, the motion trajectory of the robot arm is optimized, the impact and vibration during the movement are reduced, and the accuracy of the top riveting operation is improved.

[0037] The system also includes a signal indicator light, which is connected to the PLC. The signal indicator light includes a preparation state indicator light and a top riveting state indicator light.

[0038] The system also includes a speaker, which emits a prompt sound during top riveting, and the speaker is also electrically connected to the PLC.

[0039] The riveting actuator uses cylinder 2 to replace manual riveting.

[0040] After the middle mechanical arm 4 is tightened, the mechanical arms 5 on both sides clamp the middle mechanical arm 4 to prevent the top iron 1 from sliding. Figure 3 As shown, the middle robot is responsible for top riveting, and the robots on both sides prevent the middle robot from sliding. At the same time, the mechanical arms 5 on both sides are equipped with rubber dampers 6 and sensors 3, which can adjust the mechanical arm torque according to the collected force while suppressing sliding.

[0041] The system introduces an adaptive vibration suppression algorithm, which automatically adjusts the control parameters according to the vibration condition of the top iron 1 end and the size of the top riveting force to optimize the vibration suppression effect.

[0042] The system also includes a power switch, an air source, a solenoid valve and an electric proportional valve, and the solenoid valve and the electric proportional valve are electrically connected to the PLC. The PLC controls the actions of the solenoid valve and the electric proportional valve and controls the horn and the indicator light.

[0043] like Figure 2 As shown in the figure, the system uses PLC200 SMART ST20 as the controller, 24VDC as the power supply of the control system, and the external analog expansion module AM06 provides 0-10V voltage signal for the electric proportional valve and collects the signal of sensor 3. The on and off of the solenoid valve is controlled through the I / O port, and the foot switch and UR robot are connected to the input port of the PLC.

[0044] An operating method of a robot top riveting system for suppressing sliding of a top iron end 1 comprises the following steps:

[0045] Step 1: Turn on the power switch, and turn on the gas source after the system is initialized;

[0046] Step 2: The system starts and performs self-test to ensure that all hardware and software are working properly, including the robot arm, PLC, cylinder 2, and sensor 3;

[0047] Step 3: Input the top riveting parameters and their riveting coordinates on the touch screen;

[0048] Step 4: Perform path planning according to the set top riveting parameters and riveting coordinates to generate the motion trajectory of the robot top riveting;

[0049] Step 5: Click the "Start" button on the touch screen. The system starts the robot arm to perform the top riveting operation according to the planned motion trajectory and the set moving speed. During the top riveting process, the motion state and force condition of the top iron 1 end are monitored in real time, and the top riveting state is adjusted.

[0050] Step 6: After riveting is completed, perform a top riveting quality inspection and record the operation results to provide data support for subsequent analysis and improvement;

[0051] Step seven, finish the top riveting operation, restore the system to its initial state and then shut down the system.

[0052] like Figure 4 As shown, the system performs parameter initialization after power-on. After the middle robot arm 4 reaches the initial position, it sends a signal to the PLC. Click the "Run" button to start, and the PLC sends a signal to the middle robot arm 4. The middle robot arm 4 finds the rivet hole position and moves to the riveting position. The other two robots help fix the middle robot arm 4 and send a signal to the PLC. After receiving the signal, the PLC controls the cylinder 2 to start moving, and the robots 5 on both sides begin to clamp the middle robot arm 4. At the same time, the indicator light and the horn alarm prompt. After the riveting is completed, a message is sent to the middle robot arm 4, and the middle robot arm 4 starts to move to the next position to repeat the above actions until it reaches the final riveting position. After riveting, the riveting is completed and the middle robot arm 4 returns to the initial position.

[0053] like Figure 5 As shown in the figure, the control interface has input ports for PLC parameter preparation time, cylinder 2 tightening force, cylinder 2 tightening time, UR robot running speed, and xyz axis coordinates. There are also signal indicator lights, start and end buttons. Enter the corresponding parameters before starting the top riveting, click the "Start" button, and the top riveting will be automatically performed. If an emergency occurs during the riveting operation, click "End" to interrupt the top riveting operation.

[0054] This embodiment is only a further explanation of the invention rather than a limitation of the invention. After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed. However, as long as they are within the scope of the claims of the invention, they are protected by the patent law.

Claims

1. A robot top riveting system for suppressing the sliding of the top iron end, characterized in that: It includes a sensor, an analog expansion module, a riveting actuator and a PLC. The sensor collects top riveting data and sends the data signal to the analog expansion module. The riveting actuator includes three mechanical arms, which are connected to the PLC for communication. The middle mechanical arm brings the top iron to the specified riveting position, and the mechanical arms on both sides suppress the sliding of the top iron.

2. The robot top riveting system for suppressing top iron end sliding according to claim 1 is characterized in that: It also includes a touch screen, which displays a human-computer interaction interface to control the start and end of top riveting and input top riveting parameters. The top riveting parameters include top riveting time, top tightening force, preparation time, UR robot running speed and UR robot starting coordinates.

3. The robot top riveting system for suppressing top iron end sliding according to claim 1, characterized in that: It also includes a signal indicator light, which is connected to the PLC and includes a preparation status indicator light and a top riveting status indicator light.

4. The robot top riveting system for suppressing top iron end sliding according to claim 1, characterized in that: It also includes a horn, which emits a warning sound when riveting.

5. The robot top riveting system for suppressing top iron end sliding according to claim 1, characterized in that: The riveting actuator adopts a cylinder.

6. The robot top riveting system for suppressing top iron end sliding according to claim 1, characterized in that: After the middle mechanical arm is tightened, the mechanical arms on both sides clamp the middle mechanical arm to prevent the top iron end from sliding.

7. The robot top riveting system for suppressing top iron end sliding according to claim 1, characterized in that: It also includes a power switch, an air source, a solenoid valve and an electric proportional valve, and the solenoid valve and the electric proportional valve are both electrically connected to the PLC.

8. The method for operating a robot top riveting system for suppressing sliding of a top iron end according to any one of claims 1 to 7, characterized in that: The method comprises the following steps: Step 1: Turn on the power switch, and turn on the gas source after the system is initialized; Step 2: The system starts and performs self-test to ensure that all hardware and software are working properly, including the robot arm, PLC, cylinder, and sensor. Step 3: Input the top riveting parameters and their riveting coordinates on the touch screen; Step 4: Perform path planning according to the set top riveting parameters and riveting coordinates to generate the motion trajectory of the robot top riveting; Step 5: Click the "Start" button on the touch screen. The system starts the robot arm to perform the top riveting operation according to the planned motion trajectory and the set moving speed. During the top riveting process, the motion state and force condition of the top iron end are monitored in real time, and the top riveting state is adjusted. Step 6: After riveting is completed, perform a top riveting quality inspection and record the operation results to provide data support for subsequent analysis and improvement; Step seven, finish the top riveting operation, restore the system to its initial state and then shut down the system.

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