Radar array surface radiator dismounting and mounting equipment and dismounting and mounting method

Abstract

The invention relates to radar array plane radiator dismounting equipment and a dismounting method, the radar array plane radiator dismounting equipment comprises a product machine table, and an array plane feeding and discharging station, a screw dismounting unit, a radiator dismounting unit and a radiator loading station which are arranged above the product machine table, after a radar array plane is conveyed to the array plane feeding and discharging station to be positioned, screws on the surface of the radar array plane are unscrewed through the screw dismounting unit, and the radiator loading station is used for loading the radar array plane. Then the radiators on the radar array plane are taken down by the radiator disassembling and assembling unit and are translated and transferred to a radiator loading station, and all the radiators are disassembled in sequence; and after the radar array surface is detected, the radiator dismounting and mounting unit sequentially grabs the radiators one by one from the radiator loading station and mounts the radiators in place, finally, the screws are tightened by the screw dismounting and mounting unit, and the radar array surface exits from the array surface feeding and discharging station. Manual disassembly and assembly are replaced by automatic disassembly and assembly equipment, so that more time and labor are saved during disassembly and assembly of the radiator, and the disassembly and assembly efficiency and accuracy are improved.

Description

Technical Field

[0001] The invention relates to a radar array radiator disassembly and assembly device and a disassembly and assembly method, belonging to the technical field of machinery and intelligent automation. Background Art

[0002] In the prior art, the quality inspection of the radiator of the radar array is required after the production is completed. The inspection process requires the front shell of the radiator to be disassembled. This process includes two processes: disassembly and assembly. The disassembly process is: remove the screws on the four ear holes on the radiator, and then pull off the radiator surface shell. The assembly process is: first press the radiator surface shell into the radiator from the front, and then tighten the four screws to lock it. This process is time-consuming. Currently, it is disassembled and assembled manually, which takes a long time and is labor-intensive. In addition, the radiator after removal is easy to be misplaced, affecting the performance indicators of the radar. Summary of the invention

[0003] In order to solve the above problems, the present invention discloses a radar array radiator disassembly and assembly device, and its specific technical solution is as follows: A radar array radiator disassembly and assembly device comprises a product machine (1) and an array loading and unloading station (2), a screw disassembly and assembly unit (3), a radiator disassembly and assembly unit (4) and a radiator loading station (5) arranged above the product machine. After the radar array is transferred to the array loading and unloading station (2) for positioning, the screw disassembly and assembly unit (3) loosens the screws on its surface, and then the radiator disassembly and assembly unit (4) removes the radiator on the radar array and transfers it to the radiator loading station (5) by translation, and removes all the radiators in sequence. After the radar array is inspected, the radiator disassembly and assembly unit (4) grabs the radiators one by one from the radiator loading station (5) and installs them in place. Finally, the screw disassembly and assembly unit (3) tightens the screws, and the radar array exits the array loading and unloading station (2).

[0004] Furthermore, the array loading and unloading station (2) is located directly in front of the radiator disassembly and assembly unit (4), and an array positioning platform (6) is provided on the product machine (1). Two guide rails (7) are symmetrically provided below the array loading and unloading station (2) near both sides, and the two guide rails (7) are respectively located on both sides of the array positioning platform (6). The array loading and unloading station (2) can be pulled and moved on the guide rails (7), and a cylinder is also provided below the array loading and unloading station (2). After the radar array is placed on the array loading and unloading station (2), it is pushed to the array positioning platform (6) by the cylinder.

[0005] Furthermore, the screw disassembly and assembly unit (3) comprises a three-axis module (10), a torque gun (8) and a visual camera (9), wherein the three-axis module (10) comprises a transverse guide rail (103), two longitudinal guide rails (101), and four push rods (102), wherein the longitudinal guide rail (101) is parallel to the moving direction of the array loading and unloading station (2), the transverse guide rail (103) spans above the array positioning platform (6), the two ends of the transverse guide rail (103) are respectively located in the longitudinal guide rail through respective sliders and can slide along the longitudinal guide rail, the four push rods are respectively arranged at positions below each of the longitudinal guide rails near the two ends, the push rod (103) supports the height of the transverse guide rail and the longitudinal guide rail (101), the torque gun (8) is arranged below the transverse guide rail (103) through a sliding mechanism, and a circle of light sources (91) is arranged around the visual camera (9), the precise position of the screw is determined by the visual camera (9), and the torque gun (8) is started to loosen the screw.

[0006] Furthermore, a lifting cylinder is provided between the torque gun (8) and the sliding mechanism, the torque gun (8) is provided at the free end of the lifting cylinder, the fixed end of the lifting cylinder is fixed to the sliding mechanism, and the sliding mechanism is capable of sliding on the transverse guide rail (103).

[0007] Furthermore, the radiator disassembly and assembly unit (4) comprises a six-axis robot (11), a visual camera (9), a laser displacement sensor (15), and a radiator disassembly and assembly claw (12); the bottom of the six-axis robot (11) is fixed on the product machine (1); the six-axis robot comprises six arms, and adjacent arms are connected by universal joints; the visual camera (9), the laser displacement sensor (15), and the radiator disassembly and assembly claw (12) are all arranged at the free end of the end arm to achieve positioning and precise disassembly and assembly of the radiator.

[0008] Furthermore, the radiator assembly and disassembly clamp (12) comprises two symmetrically arranged clamps (17), one end of the clamp (17) is connected to the clamp connecting arm (19) via a clamp fixing block (18), and the other end is symmetrically bent outward by 90° to form an outwardly bent hook (20), and the two clamps (17) move synchronously towards or in opposite directions along the clamp connecting arm (19).

[0009] Furthermore, the radiator loading station (5) comprises a tray positioning seat (13) and a radiator loading tray (14), the radiator loading tray (14) being used to place the radiators (16), and the number of the radiator loading trays (14) is not less than the total number of radiators (16) on a set of radar array surfaces.

[0010] The radar array radiator disassembly and assembly method based on the above radar array radiator disassembly and assembly equipment comprises the following steps: Step 1: Loading the radar array: placing the radar array on the guide rail (7) and pushing it to the array positioning platform (6); Step 2: Four-point positioning of the radar array: The laser displacement sensor selects four scattered points on the radar array, measures the horizontal heights of the four points respectively, and then calculates the errors of the horizontal heights of the four points. If the error is greater than the preset threshold, the radar array is readjusted, and then the horizontal heights of the four points are repeatedly measured again until the error of the horizontal heights of the four points is no greater than the preset threshold; Step 3: loosening the screw: the torque gun (8) moves on the transverse guide rail, and the transverse guide rail moves on the longitudinal guide rail, so that the torque gun (8) moves vertically above the target screw, and then the torque gun is lowered until the torque gun (8) contacts the screw, and then the torque gun (8) is started to loosen the screw. The number of turns of the torque gun (8) is a preset value, ensuring that the number of turns of the torque gun (8) is not less than the number of turns of the screw; Step 4: Set the travel of the torque gun (8) according to the screw distribution on the radar array surface, repeat step 3, remove all the screws on the radar array surface in turn, and move the lateral guide rail to the side away from the six-axis robot; Step 5: Remove the radiator: Start the six-axis robot, locate the radiator on the radar array through the visual camera, lower the radiator removal clamp, insert the clamp claws into the two long holes of the radiator, move outward, hook the radiator with the outer hook, move vertically upward, pull the radiator out of the radar array, and transfer it to the radiator loading station (5); Step 6: According to the distribution of radiators on the radar array, set the travel of the six-axis robot, repeat step 5, remove all radiators on the radar array in turn, and move the six-axis robot to the outside of the radar array; Step 7: Detect each point of the dismantled radar array; Step 8: After the detection is completed, the six-axis robot is started to move each radiator on the radiator loading station (5) to the radar point on the radar array; Step 9: Start the torque gun (8), move to each screw point in turn, and tighten the screws; Step 10: The radar array is withdrawn from the guide rail (7), the radar array is removed, and the next radar array to be tested is replaced, and steps 1-9 are repeated.

[0011] The beneficial effects of the present invention are: The present invention is designed according to the structure of the radiator to realize automatic disassembly and assembly of the radiator, and uses automatic disassembly and assembly equipment instead of manual disassembly and assembly, so that the disassembly and assembly of the radiator is more time-saving and labor-saving, and the disassembly and assembly efficiency and accuracy are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1It is a schematic diagram of the overall structure of the present invention, Figure 2 yes Figure 1 Another angle view of Figure 3 is a schematic diagram of a screw disassembly unit of the present invention, Figure 4 yes Figure 3 Another angle view of Figure 5 yes Figure 3 A partial view of Figure 6 yes Figure 5 Bottom view of Figure 7 This is an overall schematic diagram of the radiator disassembly and assembly clamp of the present invention. Figure 8 This is a partial schematic diagram of the radiator disassembly and assembly jaws of the present invention. Fig. 9 is a partial schematic diagram of the clamping jaws of the present invention, List of reference numerals: 1. Product machine; 2. Array loading and unloading station; 3. Screw disassembly and assembly unit; 4. Radiator disassembly and assembly unit; 5. Radiator loading station; 6. Array positioning platform; 7. Guide rail; 8. Torque gun; 9. Visual camera; 91. Light source; 10. Three-axis module; 101. Longitudinal guide rail; 102. Push rod; 103. Transverse guide rail; 11. Six-axis robot; 12. Radiator disassembly and assembly claw; 13. Radiator tray positioning seat; 14. Radiator loading tray; 15. Laser displacement sensor; 16. Radiator; 17. Clamp; 18. Clamp fixing block; 19. Clamp connecting arm; 20. Outer bend hook. DETAILED DESCRIPTION

[0013] The present invention is further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0014] Combined with Figure 1-2It can be seen that the radar array radiator disassembly and assembly equipment includes a product machine 1 and an array loading and unloading station 2, a screw disassembly and assembly unit 3, a radiator disassembly and assembly unit 4 and a radiator loading station 5 arranged above it. When in use, after the radar array is transferred to the array loading and unloading station 2 for positioning, the screw disassembly and assembly unit 3 loosens the screws on its surface, and then the radiator disassembly and assembly unit 4 removes the radiator on the radar array, and transfers it to the radiator loading station 5 by translation, and removes all the radiators in turn; after the radar array is inspected, the radiator disassembly and assembly unit 4 grabs the radiators one by one from the radiator loading station 5 in turn, installs them in place, and finally the screw disassembly and assembly unit 3 tightens the screws, and the radar array withdraws from the array loading and unloading station 2, realizing the disassembly and inspection of one radar array, and according to this procedure, the other radar arrays to be disassembled and inspected are disassembled and inspected in turn, realizing full automatic disassembly and assembly, without manual disassembly and assembly, saving manpower.

[0015] The array loading and unloading station 2 is located in front of the radiator disassembly and assembly unit 4. The array positioning platform 6 is arranged on the product machine 1. Two guide rails 7 are symmetrically arranged near the two sides below the array loading and unloading station 2. The two guide rails 7 are respectively located on both sides of the array positioning platform 6. The array loading and unloading station 2 can be pulled and moved on the guide rails 7. A cylinder is also arranged below the array loading and unloading station 2. After the radar array is placed on the array loading and unloading station 2, it is pushed to the array positioning platform 6 by the cylinder. The radar array is first installed on the array positioning platform 6. After installation, the cylinder is started and pushed to the array positioning platform 6. The cylinder presets the forward stroke and just pushes the radar array to the limit position. The structure of the array positioning platform 6 is that the rear end (the end facing the loading and unloading end) is open, and the other end (the end facing the six-axis robot) is in the shape of a step. When the array loading and unloading station 2 is pushed into place, it is just supported by the step and reaches the bottom position.

[0016] The radiator loading station 5 includes a tray positioning seat 13 and a radiator loading tray 14. The radiator loading tray 14 is used to place radiators 16, and the number of radiator loading trays 14 is not less than the total number of radiators 16 on a set of radar arrays. Figure 1 and 2 It can be seen that there are two radiator loading stations 5, located on the left and right sides of the six-axis robot, for placing the radiators removed by the six-axis robot, ensuring that the radiators can be placed and fully utilizing the surface of the product machine 1. The structure of the radiator is shown in 9. Each radiator has 4 screws and two long holes in the middle of the radiator. During the disassembly process, the radiator only needs to loosen the screws and the radiator can be pulled out from the radar array. During the transfer process, the radiator always maintains the same position as when it was installed on the radar array, that is, it always keeps the front side facing down to ensure that the screws will not fall off.

[0017] Combined with Figure 3-6It can be seen that the screw disassembly and assembly unit 3 includes a three-axis module 10, a torque gun 8 and a visual camera 9. The three-axis module 10 includes a transverse guide rail 103, two longitudinal guide rails 101, and four push rods 102. The longitudinal guide rail 101 is parallel to the moving direction of the array loading and unloading station 2. The transverse guide rail 103 spans above the array positioning platform 6. The two ends of the transverse guide rail 103 are respectively located in the longitudinal guide rail through their own sliders and can slide along the longitudinal guide rail. The four push rods are respectively arranged at the bottom of each longitudinal guide rail near the two ends. The push rod 103 supports the height of the transverse guide rail and the longitudinal guide rail 101. The torque gun 8 is arranged below the transverse guide rail 103 through a sliding mechanism. A circle of light sources 91 is arranged around the visual camera 9. The visual camera 9 determines the exact position of the screw and starts the torque gun 8 to loosen the screw. The torque gun 8 is lifted and lowered by the lifting cylinder. When a screw needs to be screwed, after positioning, the torque gun 8 is lowered, and the torque gun 8 is stuck in the nut of the screw and rotated. After the tightening is completed, the torque gun 8 moves up to the next screw position, and then descends again, and the cycle repeats. The transverse guide rail 103 cooperates with the longitudinal guide rail 101 to achieve the forward, backward, left and right movement of the torque gun 8 on the horizontal plane, and can be positioned just above the screw vertically.

[0018] Combined with Figure 7-9 It can be seen that the radiator disassembly and assembly unit 4 includes a six-axis robot 11, a visual camera 9, a laser displacement sensor 15, and a radiator disassembly and assembly claw 12. The bottom of the six-axis robot 11 is fixed on the product machine 1. The six-axis robot includes six arms, and adjacent arms are connected by universal joints. The visual camera 9, the laser displacement sensor 15, and the radiator disassembly and assembly claw 12 are all arranged at the free end of the end arm to realize the positioning and precise disassembly and assembly of the radiator. The six-axis robot 11 realizes multi-angle transfer and lifting to ensure that the radiator can be rotated. The laser displacement sensor 15 is used for positioning and the flatness of the positioning array radar. The visual camera 9 is used for real-time positioning of the six-axis robot 11 and the torque gun 8 to ensure the accuracy of the real-time position and realize position alignment through the picture.

[0019] The radiator disassembly and assembly clamp 12 includes two symmetrically arranged clamps 17, one end of the clamp 17 is connected to the clamp connecting arm 19 through the clamp fixing block 18, and the other end is symmetrically bent outward by 90° to form an outer hook 20. The two clamps 17 move synchronously in the same direction or oppositely along the clamp connecting arm 19. According to the structure of the radiator 16, there are two long holes in the middle of the radiator 16. When the radiator needs to be removed, the clamp 17 is first approached, then inserted into the long hole, and then opened. The outer hook 20 hooks the outer side of the long hole and moves vertically upward to pull the radiator out of the array radar and transfer it to the radiator loading tray 14. The clamp 17 then removes the next radiator 16, and the removal of all radiators is completed in sequence. After removal, the electrode point position of the radiator on the radar array after removal is tested manually or with other auxiliary equipment. After the test, if everything is normal, the radiator is installed again. If there is an abnormal electrode point position, the next step of maintenance is performed. After the maintenance, the radiator is installed again.

[0020] The following is a method for disassembling and assembling a radar array radiator of the present invention, comprising the following steps: Step 1: Loading the radar array: placing the radar array on the guide rail 7 and pushing it to the array positioning platform 6; Step 2: Four-point positioning of the radar array: The laser displacement sensor selects four scattered points on the radar array, measures the horizontal heights of the four points respectively, and then calculates the errors of the horizontal heights of the four points. If the error is greater than the preset threshold, the radar array is readjusted, and then the horizontal heights of the four points are repeatedly measured again until the error of the horizontal heights of the four points is no greater than the preset threshold; Step 3: loosen the screw: the torque gun 8 moves on the transverse guide rail, and the transverse guide rail moves on the longitudinal guide rail, so that the torque gun 8 moves vertically above the target screw, and then the torque gun descends until the torque gun 8 contacts the screw, and then the torque gun 8 is started to loosen the screw. The number of turns of the torque gun 8 is a preset value, ensuring that the number of rotations of the torque gun 8 is not less than the number of turns of the screw; Step 4: According to the distribution of screws on the radar array, set the stroke of the torque gun 8, repeat step 3, remove all the screws on the radar array in turn, and move the transverse guide rail to the side away from the six-axis robot; Step 5: Remove the radiator: Start the six-axis robot, locate the radiator on the radar array through the visual camera, lower the radiator removal clamp, insert the clamp into the two long holes of the radiator respectively, move outward, hook the radiator with the outer hook, move vertically upward, pull the radiator out of the radar array, and transfer it to the radiator loading station 5; Step 6: According to the distribution of radiators on the radar array, set the travel of the six-axis robot, repeat step 5, remove all radiators on the radar array in turn, and move the six-axis robot to the outside of the radar array; Step 7: Detect each point of the dismantled radar array; Step 8: After the detection is completed, the six-axis robot is started to move each radiator on the radiator loading station 5 to the radar point on the radar array; Step 9: Start the torque gun 8, move to each screw point in turn, and tighten the screws; Step 10: The radar array is withdrawn from the guide rail 7, the radar array is removed, and the next radar array to be tested is replaced, and steps 1-9 are repeated.

[0021] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0022] The term “connection” as used in this application may mean a direct connection between components or an indirect connection between components via other components.

[0023] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A radar array radiator disassembly and assembly device, characterized in that: The invention comprises a product machine (1) and an array loading and unloading station (2), a screw disassembly unit (3), a radiator disassembly unit (4) and a radiator loading station (5) arranged above the radar array. After the radar array is transferred to the array loading and unloading station (2) for positioning, the screw disassembly unit (3) loosens the screws on its surface, and then the radiator disassembly unit (4) removes the radiator on the radar array and transfers it to the radiator loading station (5) in translation, and removes all the radiators in turn. After the radar array is inspected, the radiator disassembly unit (4) grabs the radiators one by one from the radiator loading station (5) and installs them in place. Finally, the screw disassembly unit (3) tightens the screws, and the radar array withdraws from the array loading and unloading station (2).

2. The radar array radiator disassembly and assembly equipment according to claim 1, characterized in that: The array loading and unloading station (2) is located directly in front of the radiator disassembly and assembly unit (4), and an array positioning platform (6) is provided on the product machine (1). Two guide rails (7) are symmetrically provided below the array loading and unloading station (2) near the two sides, and the two guide rails (7) are respectively located on the two sides of the array positioning platform (6). The array loading and unloading station (2) can be pulled and moved on the guide rails (7), and a cylinder is also provided below the array loading and unloading station (2). After the radar array is placed on the array loading and unloading station (2), it is pushed to the array positioning platform (6) by the cylinder.

3. The radar array radiator disassembly and assembly equipment according to claim 1, characterized in that: The screw disassembly and assembly unit (3) comprises a three-axis module (10), a torque gun (8) and a visual camera (9). The three-axis module (10) comprises a transverse guide rail (103), two longitudinal guide rails (101), and four push rods (102). The longitudinal guide rail (101) is parallel to the moving direction of the array loading and unloading station (2). The transverse guide rail (103) spans above the array positioning platform (6). The two ends of the transverse guide rail (103) are respectively located in the longitudinal guide rail through respective sliders and can slide along the longitudinal guide rail. The four push rods are respectively arranged at positions below each of the longitudinal guide rails near the two ends. The push rod (103) supports the height of the transverse guide rail and the longitudinal guide rail (101). The torque gun (8) is arranged below the transverse guide rail (103) through a sliding mechanism. A circle of light sources (91) is arranged around the visual camera (9). The precise position of the screw is determined by the visual camera (9), and the torque gun (8) is started to loosen the screw.

4. The radar array radiator disassembly and assembly equipment according to claim 1, characterized in that: A lifting cylinder is provided between the torque gun (8) and the sliding mechanism, the torque gun (8) is provided at the free end of the lifting cylinder, the fixed end of the lifting cylinder is fixed to the sliding mechanism, and the sliding mechanism is capable of sliding on the transverse guide rail (103).

5. The radar array radiator disassembly and assembly equipment according to claim 1, characterized in that: The radiator disassembly and assembly unit (4) comprises a six-axis robot (11), a visual camera (9), a laser displacement sensor (15), and a radiator disassembly and assembly claw (12). The bottom of the six-axis robot (11) is fixed on the product machine (1). The six-axis robot comprises six arms, and adjacent arms are connected by universal joints. The visual camera (9), the laser displacement sensor (15), and the radiator disassembly and assembly claw (12) are all arranged at the free end of the end arm to achieve positioning and precise disassembly and assembly of the radiator.

6. The radar array radiator disassembly and assembly equipment according to claim 1, characterized in that: The radiator assembly and disassembly clamp (12) comprises two symmetrically arranged clamps (17), one end of the clamp (17) being connected to a clamp connecting arm (19) via a clamp fixing block (18), and the other end being symmetrically bent outward by 90° to form an outwardly bent hook (20), and the two clamps (17) being synchronously moved toward or in opposite directions along the clamp connecting arm (19).

7. The radar array radiator disassembly and assembly equipment according to claim 1, characterized in that: The radiator loading station (5) comprises a tray positioning seat (13) and a radiator loading tray (14), wherein the radiator loading tray (14) is used to place radiators (16), and the number of radiator loading trays (14) is not less than the total number of radiators (16) on a set of radar array surfaces.

8. A method for disassembling and assembling a radar array radiator based on the radar array radiator disassembling and assembling device according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1: Loading the radar array: placing the radar array on the guide rail (7) and pushing it to the array positioning platform (6); Step 2: Four-point positioning of the radar array: The laser displacement sensor selects four scattered points on the radar array, measures the horizontal heights of the four points respectively, and then calculates the errors of the horizontal heights of the four points. If the error is greater than the preset threshold, the radar array is readjusted, and then the horizontal heights of the four points are repeatedly measured again until the error of the horizontal heights of the four points is no greater than the preset threshold; Step 3: loosening the screw: the torque gun (8) moves on the transverse guide rail, and the transverse guide rail moves on the longitudinal guide rail, so that the torque gun (8) moves vertically above the target screw, and then the torque gun is lowered until the torque gun (8) contacts the screw, and then the torque gun (8) is started to loosen the screw. The number of turns of the torque gun (8) is a preset value, ensuring that the number of turns of the torque gun (8) is not less than the number of turns of the screw; Step 4: Set the travel of the torque gun (8) according to the screw distribution on the radar array surface, repeat step 3, remove all the screws on the radar array surface in turn, and move the lateral guide rail to the side away from the six-axis robot; Step 5: Remove the radiator: Start the six-axis robot, locate the radiator on the radar array through the visual camera, lower the radiator removal clamp, insert the clamp claws into the two long holes of the radiator, move outward, hook the radiator with the outer hook, move vertically upward, pull the radiator out of the radar array, and transfer it to the radiator loading station (5); Step 6: According to the distribution of radiators on the radar array, set the travel of the six-axis robot, repeat step 5, remove all radiators on the radar array in turn, and move the six-axis robot to the outside of the radar array; Step 7: Detect each point of the dismantled radar array; Step 8: After the detection is completed, the six-axis robot is started to move each radiator on the radiator loading station (5) to the radar point on the radar array; Step 9: Start the torque gun (8), move to each screw point in turn, and tighten the screws; Step 10: The radar array is withdrawn from the guide rail (7), the radar array is removed, and the next radar array to be tested is replaced, and steps 1-9 are repeated.

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